Starling 2 Max C28 vs C29

[jbiscan21]

Hello,

For the starling 2 max C28 config, is it possible I could add the tof sensor that you sell to it without sending it back in?

How is this typically mounted? The flex cable on the tof sensor seems pretty short. Is there an extension cable?

Thank you,
John

[Alex Kushleyev]

@jbiscan21 , yes you can add the TOF sensor to Starling 2 Max, but you will also need a new front plastic mount that will hold the hires and tracking cameras as well as the new TOF sensor.

You can order the mount (which will be a drop in replacement for the original camera mount) with the TOF sensor. If you do want to proceed with the TOF sensor + plastics order, we will need to double check that all the necessary screws are included. You would need to send an email for a custom order to start this off and mention this thread and that we need to include mounting hardware. https://www.modalai.com/pages/contact-us

(related post : https://forum.modalai.com/topic/5157/c29-configuration)

See more detailed pictures.

Alex

[RoyAzriel]

@Alex-Kushleyev
HI,
We purchased M0177 seperatly.

apart of mounting it what are the steps to configure it to be part of the system. what changes need to be made in configuration file to enable the driver and get the data from your mpa service ?

Thank,

Roy

[Alex Kushleyev]

@RoyAzriel ,

you can back up your voxl-camera-server.conf and then run voxl-configure-cameras 29 and the following will happen:

• all the existing sensormodule files will be wiped from /usr/lib/camera to avoid confusion
• only those sensormodules that belong in C29 config will be copied from /usr/share/modalai/chi-cdk to /usr/lib/camera
• the camera server config file (/etc/modalai/voxl-camera-server.conf) will be overwritten with the defaults for C29 configuration -- you can then see the config entry for TOF sensor and copy/paste that into your old config file, if you wish or use the new config file as is.

Alex

[RoyAzriel]

@Alex-Kushleyev
I have done the procedure after installing depth sensor and backing up.
when running voxl-inspect-cam -a I get the message below. prbobly this procedre left something out.
I have overwritten the conf file and the camera directory with the original backup and everything retruned to work fine.
can you help understand what is missing ?
I can see the pipes that used to work named tracking_front_misp_grey tracking_front_misp_norm are missing after running voxl-configure-cameras 29

thanks

Roy

Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fps | mbps | format
| hires_down_large_color |
| hires_down_large_encoded |
| hires_down_large_grey |
| hires_down_small_color |
| hires_down_small_encoded |
| hires_down_small_grey |
| hires_down_snapshot |
| hires_front_large_color |
| hires_front_large_encoded |
| hires_front_large_grey |
| hires_front_small_color |
| hires_front_small_encoded |
| hires_front_small_grey |
| hires_front_snapshot |
| tof_conf |
| tof_depth |
| tof_ir |
| tracking_down |
| tracking_down_bayer |
| tracking_down_misp_encoded |
| tracking_down_misp_grey |
| tracking_down_misp_norm |
| tracking_front |
| tracking_front_bayer |
| tracking_front_misp_encoded |
| tracking_front_misp_grey |ng request pipe: No such device or address
| tracking_front_misp_norm |ng request pipe: No such device or address
ERROR in pipe_client_open opening request pipe: No such device or address
Most likely the server stopped without cleaning up
Client is cleaning up pipes for the server

[Alex Kushleyev]

@RoyAzriel , which sensors does voxl-camera-server -l detect? you can look at the top part, not the resolution list.

Take a look at this, should have some more info : https://docs.modalai.com/configure-cameras/#connect-a-new-camera

Make sure to double check the camera IDs as they may shift after adding a new sensor. voxl-camera-server -l will tell you the camera ID for each camera / slot number.

Alex

[RoyAzriel]

@Alex-Kushleyev
Hi Alex,
I did few steps to find our the problem.
after running voxl-configure-cameras 29 I have validate with dmesg camera is probed.
confirmed with voxl-camera-server -l the are 5 cameras.
When running the voxl-camera-server manualy I was able to see a lot of drops and it complains about broken pipes and even had segmentation fault.
When I disabled hires_down and hires_front the voxl-inspect-cam -a it run cleanly.
I guess currently there is a problem to run 5 cameras. for now I disables hires_down in the conf file. I can see the depth camera.
I am not sure how this will effect the vio (is it using it ?). I wonder how it works well when you ship out C29 from the factory ?
Another question it seems the pmd sensor position is that the 105 deg fov is vertically and not horizontal. Am I right ?

BR,

Roy