VOXL2 Mini – Royale createDevice failed when starting ToF camera

[Piyush Singh]

Hi ModalAI team,

I am working with a VOXL2 Mini test fixture (TF-M0104) and encountering an issue when starting the ToF camera.

The voxl-camera-server starts successfully and all cameras initialize, but it crashes when the ToF bridge attempts to initialize the Royale device.

Additional details:

• Platform: VOXL2 Mini (TF-M0104)
• Camera server starts all 4 cameras
• The crash occurs right after the ToF bridge initialization.

Could you please advise what might cause Royale createDevice to fail in this situation?

I have attached a screenshot of the full terminal output for reference.

Thanks in advance for your help.

[Alex Kushleyev]

@Piyush-Singh ,

Which TOF sensor do you have plugged into VOXL2 Mini (there are two options) and what is the camera type listed for the TOF entry in voxl-camera-server.conf? there may be a mismatch..

Config file TOF options are :

• pmd-tof for the (EOL) TOF V1 : https://docs.modalai.com/M0040/
• pmd-tof-liow2 for the new TOF V2 : https://docs.modalai.com/M0169/ (https://docs.modalai.com/M0178/) - two different variants that differ in the connector type that connects them to VOXL2

Alex

[Piyush Singh]

@Alex-Kushleyev I am using second one i.e. TOF V2 and defined it in custom_camera_config.txt file as given below:

[Alex Kushleyev]

@Piyush-Singh , can you please provide more details

• how exactly all cameras are connected to VOXL2 mini (including interposers, flexes), etc. A diagram would help a lot
• which kernel variant are you running on your voxl2 mini (2.0.0 or 2.0.2).

Are all the other cameras working if you disable the TOF sensor in the camera server config?

Alex