Unable to send mav commands by voxl-mapper



  • Hello,

    In voxl-mapper, the drone does not move even if I select "Follow Path" in "Plan Home" or "Plan to a Point".

    The result of "voxl-mapper -d" shows "sending trajectory to plan channel", so it seems to be working fine.
    But, voxl-vision-px4 shows the following error:

    Jan 01 00:03:57 apq8096 voxl-vision-px4[2165]: ERROR validating trajectory data received through pipe: read partial packet
    Jan 01 00:03:57 apq8096 voxl-vision-px4[2165]: read 7936 bytes, but it should be a multiple of 7940
    

    Is there something wrong with the settings?

    I used dev branch, and each version is as follows.

    voxl:~$ opkg list-installed | grep "modal"
    libmodal-json - 0.4.0
    libmodal-pipe - 2.1.5
    libmodal_exposure - 0.0.2
    voxl:~$ opkg list-installed | grep "voxl"
    libvoxl-cutils - 0.0.2
    libvoxl-io - 0.5.6
    libvoxl_io - 0.5.4
    voxl-camera-calibration - 0.1.1
    voxl-camera-server - 0.8.1
    voxl-cpu-monitor - 0.2.3
    voxl-dfs-server - 0.2.2
    voxl-docker-support - 1.1.3
    voxl-gphoto2 - 0.0.6
    voxl-imu-server - 1.0.0
    voxl-mapper - 0.0.3
    voxl-mavlink - 0.0.2
    voxl-mavlink-server - 0.0.6
    voxl-modem - 0.13.0
    voxl-mpa-tools - 0.4.5
    voxl-nodes - 0.2.2
    voxl-opencv - 4.5.5
    voxl-portal - 0.2.2
    voxl-qvio-server - 0.4.0
    voxl-streamer - 0.2.8
    voxl-suite - 0.5.0
    voxl-tag-detector - 0.0.2
    voxl-tflite - 2.2.3-1
    voxl-tflite-server - 0.2.0
    voxl-utils - 0.9.4
    voxl-vision-px4 - 1.0.1
    voxl-vpn - 0.0.3
    
    $ cat /etc/modalai/voxl-vision-px4.conf
    /**
     * VOXL Vision PX4 Configuration File
     *
     */
    {
            "qgc_ip":       "192.168.8.98",
            "en_localhost_mavlink_udp":     true,
            "en_secondary_qgc":     false,
            "secondary_qgc_ip":     "192.168.1.214",
            "qgc_udp_port_number":  14550,
            "localhost_udp_port_number":    14551,
            "udp_mtu":      512,
            "en_vio":       true,
            "en_voa":       false,
            "en_send_vio_to_qgc":   true,
            "en_send_voa_to_qgc":   false,
            "en_set_clock_from_gps":        false,
            "en_force_onboard_mav1_mode":   true,
            "en_reset_px4_on_error":        true,
            "qvio_auto_reset_quality":      0.00050000002374872565,
            "horizon_cal_tolerance":        0.300000011920929,
            "voa_upper_bound_m":    -0.15000000596046448,
            "voa_lower_bound_m":    0.15000000596046448,
            "offboard_mode":        "trajectory",
            "follow_tag_id":        0,
            "figure_eight_move_home":       true,
            "en_tag_fixed_frame":   false,
            "fixed_frame_filter_len":       5,
            "en_transform_mavlink_pos_setpoints_from_fixed_frame":  false
    }
    
    $ cat /etc/modalai/voxl-mapper.conf
    /**
     * This file contains configuration that's specific to voxl-mapper.
     * depth_mode = 0 for tof input or 1 for dfs input.
     */
    {
            "depth_mode":   0,
            "robot_radius": 0.3,
            "voxel_size":   0.20000000298023224,
            "voxels_per_side":      16,
            "esdf_save_path":       "/data/voxl_mapper/esdf_map",
            "tsdf_save_path":       "/data/voxl_mapper/tsdf_map",
            "mesh_save_path":       "/data/voxl_mapper/mesh.ply",
            "esdf_max_distance":    4,
            "esdf_min_distance":    0.05,
            "esdf_default_distance":        2,
            "esdf_inner_sphere_radius":     0.20000000298023224,
            "esdf_outer_sphere_radius":     0.600000023841858,
            "rrt_min_distance":     0.2,
            "rrt_max_runtime_nanoseconds":  1000000000,
            "rrt_use_first_solution":       false,
            "rrt_treat_unknown_as_occupied":        true,
            "rrt_send_tree":        false,
            "loco_num_segments":    5,
            "loco_derivative_to_optimize":  3,
            "loco_poly_degree":     4,
            "loco_smoothness_cost_weight":  2.5,
            "loco_collision_cost_weight":   18,
            "loco_waypoint_cost_weight":    0,
            "loco_min_collision_sampling_dist":     0.01,
            "loco_add_waypoints":   true,
            "loco_scale_time":      true,
            "loco_split_at_collisions":     true,
            "loco_resample_trajectory":     true,
            "loco_verbose": false
    }
    

  • Dev Team

    Hey @JP-Drone,

    Thanks for pointing this out, voxl-vision-px4 was an update ahead of voxl-mapper. I just pushed up a patch (v0.0.5) that should fix this issue.



  • @Matt-Turi Thank you for your quick response.
    After updating to v0.0.5, it worked!


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