autonomy stack
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Hi everyone, I’m relatively new to the VOXL ecosystem and I’ve been trying to set up a workflow to develop and test changes to the voxl-vision-hub autonomy stack without flying a real vehicle.
i loaded the qti-ubuntu-m0054-docker.tar image and get a shell inside the container and installed the voxl-suite to get all the services (sw)...
I understand that the vision hub contains autonomy examples such as the Figure-8 demo and other tasks and that it interacts with PX4 via MAVLink.My main goal is to run SITL (Software-in-the-Loop) so that I can test changes to the autonomy behaviour in a simulated environment , ideally with PX4 SITL, FlightGear (or another simulator), and the vision hub all working together.
This leaves me a bit confused about the recommended way to set up simulation for autonomy development when not using ROS. Specifically:
Can voxl-vision-hub interact with a PX4 SITL instance running on a host machine?
If so, what is the recommended setup and how do I link MAVLink traffic between the host SITL and the container on VOXL2?
Or is the supported path something like HITL only?Thanks in advance for any guidance , I’m just getting started with this stack and would appreciate pointers to the best practices or examples.
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@Gad-Levin We generally use HITL. There is some documentation here: https://docs.modalai.com/voxl2-PX4-hitl/. This is the repo with the most up to date HITL driver for VOXL: https://github.com/modalai/px4-firmware/tree/voxl-fpv-dev. There is some more info in the HITL driver README: https://github.com/modalai/px4-firmware/blob/voxl-fpv-dev/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/README.md. I'm sure there's some outdated / incomplete information in those documents but it should give you a pretty good starting spot. This is the cable I use: https://www.sparkfun.com/usb-to-ttl-serial-cable.html
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@Eric-Katzfey And this is also handy: https://www.sparkfun.com/breadboard-to-jst-ghr-04v-cable-4-pin-x-1-25mm-pitch.html
