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    Implementing PX4 avoidance in mission mode using the voxl and QGC

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    • Chad SweetC
      Chad Sweet Dev Team
      last edited by

      Not exactly familiar with that parameter. Have you seen how we implement mavros here https://docs.modalai.com/mavros? That might help. You might be able to use our voxl-vision-px4 to communicate with the flight controller, vio and mavros code: https://gitlab.com/voxl-public/ros/mavros_test

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      • S
        scottesicdrone
        last edited by

        I've been working on this more but I'm still stuck at this point. I've tried using a stripped-down version of voxl-vision-px4 to essential just initiate the UART connection but this still doesn't help set up the serial connection for the avoidance repo. I have this running on the yocto base layer and I want to try running the voxl-vision-px4 or libvoxl_io functions in the docker image to initiate the UART connection and see if that does the trick. I've been having tons of problems trying to build these libraries on the roskinetic docker image, is their anyway to build the libvoxl_io library or voxl-vision-px4 on the roskinetic-xenial docker image?

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        • Chad SweetC
          Chad Sweet Dev Team
          last edited by

          There is not a way for libvoxl_io to work inside of the Docker. It seems you have succesfully separated VIO from voxl-vision-px4, but you'll still need to use the MAVLink routing inside of voxl-vision-px4 which accepts MAVLink over UDP. Here's a diagram below to try and draw it out. You won't be able to use the ROS serial node directly in the docker. You'll need to pass the MAVLink over UDP, or run the ROS serial node in the Yocto layer and have it use libvoxl_io.

          voxl-docker-mavlink.png

          FWIW, the MPA architecture with the voxl-mpa-qvio-server will help separate VIO from vox-vision-px4, but that's still a month away from being stable.

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          • S
            scottesicdrone
            last edited by

            Thank you for your help, the UDP connection seems to be working for the most part! The connection is initiated and the ROS connections seem to be connected but it seems like the pointcloud isn't being updated fast enough. I checked the pointcloud topic made by the snap_dfs manager and that was being updated at around 2Hz at most and the avoidance algorithm requires the pointcloud to updated at least 10Hz. I also opened up the pointcloud in rviz and saw that the pointcloud was updating at that rate. Is this normal behavior or is something else going on here? I apologize that I keep encountering roadblocks but I do think I am close to getting this!

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            • Chad SweetC
              Chad Sweet Dev Team
              last edited by

              Check out the bottom of this readme where it recommends different parameters to increase frame rate. https://github.com/ATLFlight/dfs-ros-example

              Basically, in any computer vision task it's a tradeoff of frame rate and resolution

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              • Chad SweetC
                Chad Sweet Dev Team
                last edited by

                And FWIW, you don't need high resolution for obstacle avoidance. Just need to see things not to run in to!

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                • Chad SweetC
                  Chad Sweet Dev Team
                  last edited by

                  @scottesicdrone curious to see if you were you able to get things working?

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                  • J DataJ
                    J Data
                    last edited by J Data

                    @Chad-Sweet
                    I had a look the link you shared: snap_vio
                    But I think it is not working correctly with the voxl module I have.
                    Currently, I am running ROS noetic on the voxl module, and try to run the VIO with downward camer.
                    By using snap_camera_ros (I edited it a little bit to use the downward camera), I can see the downward camera is correctly set up for snap_vio. Also, I can see snap_imu is working correctly, so I can see the output of imu (angular_velocity and linear_acceleration).

                    But I cannot see any output of /downward/vio/odometry.

                    Could you please help me to run snap_vio with the voxl module?
                    What should I check first?

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                    • J DataJ
                      J Data
                      last edited by

                      The running file is similar with this.

                      <!-- camera nodelet -->
<!-- VIO nodelet -->
<!-- fisheye camera info spoofer -->
<!-- imu nodelet -->
<!-- cpa nodelet -->
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                      • J DataJ
                        J Data
                        last edited by J Data

                        @Chad-Sweet
                        Update.

                        I have output /downward/vio/odometry with some error messages

                        [ INFO] [1648150781.892213161]: [VISLAM] Got uav1/imu to uav1/dfc transform; Initializing VISLAM
[ INFO] [1648150781.892816862]: [VISLAM] (from tf) tbc:
x: 0.2
y: 0
z: -0.025

[ INFO] [1648150781.893485304]: [VISLAM] (from tf) ombc:
X: 0
Y: 2.356
Z: 0

MachineVision is licensed as community user
LNX_8074 supported? 1
LNX_8096 supported? 1
LNX_IA64 supported? 1
WINDOWS supported? 0
AR ERROR: arFileOpen(): Failed to open file: /data/.ros/vislam/Configuration.SF.xml
FASTCV: fcvAvailableHardware Linux
mempool cur block size 307200, new block size 307200
AR ERROR: arFileOpen(): Failed to open file: /data/.ros/na

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "grav" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan nan)
         at line 244 in ~/geometry2/tf2/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "grav" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan nan)
         at line 257 in ~/geometry2/tf2/src/buffer_core.cpp
[ERROR] [1648150782.073463584]: Ignoring transform for child_frame_id "grav" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan nan)
[ERROR] [1648150782.077556213]: Ignoring transform for child_frame_id "grav" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan nan)
[ERROR] [1648150782.094956631]: Ignoring transform for child_frame_id "grav" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan nan)
[ERROR] [1648150782.095484499]: Ignoring transform for child_frame_id "grav" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan nan)
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "grav" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan nan)
         at line 244 in ~/tf2/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "grav" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan nan)
         at line 257 in ~/geometry2/tf2/src/buffer_core.cpp

                        and repeated error message of

                        [ERROR] [1648150919.088496536]: [VISLAM] ERROR CODE = 2048, Stamp: 1648150919.022946523

                        I am wondering how urdf should be set. Should there be any rotations of IMU or camera in urdf file?
                        urdf file I used has some rotations in y-axis for IMU and cameras.

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                        • J DataJ
                          J Data
                          last edited by

                          @Chad-Sweet
                          I am using customized urdf for snap_vio which has different numbers (positions and orientations) of sdf_pro.urdf.

                          Is there any urdf file for VOXL?

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                          • J DataJ
                            J Data
                            last edited by

                            @Chad-Sweet , No matter the tf setting in the urdf file is, the ros topic outputs are shown in the followings

                            1. rostopic echo mavros/imu/data (in base_link frame): x is backward, y is right, z is down
                            2. rostopic echo downward/imu (in imu frame): x is right, y is backward, z is down
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                            • J DataJ
                              J Data
                              last edited by

                              @modalab Hello, can you help me to resolve this problem?

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