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    Obstacle_Detection messages not appearing

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    • D
      Daniel Ryu
      last edited by 21 Aug 2021, 00:48

      Hello, I am trying to figure out how to turn on the collision prevention in voxl based systems, and despite following the linked instructions, I am unable to get Obstacle_Detection messages to appear in the QGC mavlink inspector. I enabled voa and voa messages to qgc, and configured the PX4 parameters using the given helper file. What should I try to receive Obstacle Detection messages?

      https://docs.modalai.com/voxl-vision-px4-collision-prevention/

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      • D
        Daniel Ryu
        last edited by Daniel Ryu 24 Aug 2021, 22:24 24 Aug 2021, 21:31

        I also calibrated the Stereo cameras and confirmed that output was coming out from the voxl-vision-px4 debug mode (-s flag)

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        • D
          Daniel Ryu
          last edited by 24 Aug 2021, 21:34

          Screenshot from 2021-08-24 14-33-52.png

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          • ?
            A Former User
            last edited by 25 Aug 2021, 16:12

            It looks like everything is set up properly, can you run voxl-inspect-cam dfs-disparityand check to see that you're getting output there?

            D 1 Reply Last reply 25 Aug 2021, 17:25 Reply Quote 0
            • D
              Daniel Ryu @Guest
              last edited by 25 Aug 2021, 17:25

              @Alex-Gardner Doesn't seem like it, its stuck on this screen. Screenshot from 2021-08-25 10-23-50.png

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              • ?
                A Former User
                last edited by 25 Aug 2021, 17:30

                can you do the same but with stereo: voxl-inspect-cam stereo, if the dfs service is running and receiving frames it should be outputting data

                D 1 Reply Last reply 25 Aug 2021, 17:36 Reply Quote 0
                • D
                  Daniel Ryu @Guest
                  last edited by 25 Aug 2021, 17:36

                  @Alex-Gardner I'm getting output just fine from stereo aloneScreenshot from 2021-08-25 10-35-32.png

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                  • ?
                    A Former User
                    last edited by 25 Aug 2021, 17:40

                    What version of voxl suite/system image do you have? voxl-version should print this out

                    D 1 Reply Last reply 25 Aug 2021, 17:41 Reply Quote 0
                    • D
                      Daniel Ryu @Guest
                      last edited by 25 Aug 2021, 17:41

                      @Alex-Gardner System image 3.3.0. Voxl-suite 0.4.6

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                      • ?
                        A Former User
                        last edited by 25 Aug 2021, 17:48

                        do you see dfs topics when you do ls /run/mpa

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                        • ?
                          A Former User
                          last edited by 25 Aug 2021, 17:50

                          wait the name is dfs_disparity, not dfs-disparity, what does the inspect cam say with that voxl-inspect-cam dfs_disparity

                          D 1 Reply Last reply 25 Aug 2021, 17:53 Reply Quote 0
                          • D
                            Daniel Ryu @Guest
                            last edited by 25 Aug 2021, 17:53

                            @Alex-Gardner Output is generated for dfs_disparity Screenshot from 2021-08-25 10-53-01.png

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                            • D
                              Daniel Ryu
                              last edited by 25 Aug 2021, 17:58

                              Screenshot from 2021-08-25 10-57-35.png

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                              • ?
                                A Former User
                                last edited by 25 Aug 2021, 18:43

                                The image is showing some disparity data there, the image is often very dark because it will be black if the dfs algo is unable to match regions and we do a lot of filtering to get rid of noise, but you can see 2 blobs there that it recognizes. If you're shoing the stereo cameras a blank wall or a repeating pattern it will be unable to properly match data.

                                D 1 Reply Last reply 25 Aug 2021, 20:30 Reply Quote 0
                                • D
                                  Daniel Ryu @Guest
                                  last edited by 25 Aug 2021, 20:30

                                  @Alex-Gardner That's good to know! How can I get the Obstacle Detection message to be sent to the QGC?

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                                  • ?
                                    A Former User
                                    last edited by 25 Aug 2021, 21:14

                                    the file at /etc/modalai/voxl-vision-px4.conf has settings for QGC IP, enabling VOA, and sending VOA to QGC. Make sure that the latter two are enabled and that your qgc ip is correct and it should send to QGC

                                    D 1 Reply Last reply 25 Aug 2021, 21:36 Reply Quote 0
                                    • D
                                      Daniel Ryu @Guest
                                      last edited by 25 Aug 2021, 21:36

                                      @Alex-Gardner That was it, the ip address was not inputted correctly. Thanks!

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