stereo and tracking camera voxl_cam_ros

rapit

Hi,
I am trying to publish some stereo output from the flight deck via ros with running voxl_vision_px4 in the background.
As stated in your docs I tried yocto:~# roslaunch voxl_cam_ros stereo.launch is_cam_master:=false but the launch always fails.

ERROR: The requested frame_id(0) does not exist in the queue.
[ERROR] [1627501325.921901556]: GetImageData() Unable to get Frame data for id: 0 rc: -2
[stereo/stereo_nodelet_manager-2] process has died [pid 5056, exit code -11, cmd /opt/ros/indigo/lib/nodelet/nodelet manager __name:=stereo_nodelet_manager __log:=/home/root/.ros/log/e264a974-efdb-11eb-b918-d80f995591f7/stereo-stereo_nodelet_manager-2.log].

I think my id's are correct, if I stop voxl-vision-px4.service and set is_cam_master to true it works. It also works if I choose the stereo_merged.launch launchfile, even with voxl-vision-px4 in the background. Other combinations (hires, tracking) work as well so I am wondering if there is a technical limitation on this specific combination or is this supposed to work. I am still on version 2.3 as I need the Apriltag support.

Thanks!

Hi rapit,

Our current stable SDK (voxl-suite 0.4.6) has apriltag support through voxl-tag-detector, I'd recommend upgrading to the latest software as that's what we've been running with here in the lab and will be more familiar with issues that arise.

rapit

Good news, I didn't know that Apriltags are already supported, maybe the docs should be updated.
I updated and all streams are working simultaneously in the new architecture. Thanks.

Glad to hear it's working!

Yes, We're days away from finishing a rework of our docs that includes all the information about the new architecture, should be seeing it real soon.