Custom Server in VOXL MPA

Jetson Nano

Hello,

I'm planning to create a custom server, which calls for reading essential data(i.e features detected, no. of points detected) from voxl-qvio-server. I'm planning on referring to the libmodal-pipe documentation link for building the server. I have few queries ie.

I see the reference files here. Once I define my server, how and where do I build the server and integrate it within the existing MPA?

Alex Kushleyev

@Jetson-Nano , it looks like your server will also be a mpa client - it will need to subscribe to the data from voxl-qvio-server. After processing the data, will you need to publish something from your server?

You can get started by using the following tool / example (voxl-inspect-vio) : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/tools/voxl-inspect-vio.c which you may have already used on VOXL2. The example subscribes to the vio output and prints out some data to the terminal. You can extend this example to achieve what you need. In terms of building the application, you can see how the tools are built in this repo and follow the same structure to add your application to a separate project or to your own copy of the voxl-mpa-tools project.

Alex