Hi @dlee - this is purposeful. The voxl2 uses a ton of dependencies on a specific build of opencv - so by installing ros-melodic-cv-bridge (which you should NOT even be able to do due to dependency conflicts) you break a lot of what is dependent on that build of opencv, including vision-hub. The ros melodic which is on target is the minimal build, meaning opencv isnt installed due to those specific conflicts above.

You can always try installing it from source and pointing the third party instead of downloading it in sudo. My other recommendation would be to upgrade to ros2 foxy which is already on target.

https://github.com/ros-perception/vision_opencv/tree/melodic <-- here is the link to to melodic cv bridge. LMK if that helps!

@cfirth said in Update SDK docs on installing ROS2 on VOXL2:

they

Thanks for the comment @cfirth - this has been updated in the gitlab and is waiting to be merged for the document update!

Makes sense to me @smilon - keep in mind that the px4 instance on the voxl2 is not mainlined so a lot of those features involving the microDDS arent fully implemented yet. It is quite easy to be the subscriber in ros2 from the DDS by exposing that topic from the yaml - but definitely might require some programming on the other side of things in PX4 to ensure that the rest of the code base can ingest the dds uorb you are passing along, etc.

Also just some stuff I have come accross with PX4 instance of precision landing - it isnt all that good - youd have better luck implementing your own method of landing via offboard movement using something like mavros or mavsdk.

Let me know how it goes!
Zach

Ok @jmltt I fixed it - there was a giant conflict with versioning on px4_msgs and px4_ros_coms which was fun to deal with - anyways I have a branch waiting for approval to be merged into the most recent nightly and you can then pull the dev from the apt repository when it gets merged in - until then feel free to rebuild voxl-mpa-to-ros2 deb and install on your voxl2 from the branch zach/submodule update: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/tree/zach/submodule_update

Cheers!
Zach

@Judoor-0 this is a very unlikely occurance for a barebones instance with no external code running on the drone. I would recommend reflashing SDK 1.3.5 and the sys image and starting fresh to make sure there is nothing corrupt going on behind the scenes. Post install if this is still the case please let us know.

@smilon said in Custom px4-firmware build on StarlingV2:

I ran into an issue while installing the newly built voxl-px4 which states it depends on libfc-sensor(>=1.0.5) and I only have (1.0.4) on my system. @Eric-Katzfey I saw you authored some commits on libfc-sensor-api, do you have any clue how I can update?

1 Reply Last reply about 3 hours ago Reply

@smilon I would recommend using ros2 wrapper around mavsdk instead of mavros, that is what we have done in the past as mavros and ros1 are both depricated and not supported anymore. Anyways, goodluck with the project!

@vicky-s-karthik mind posting the exact commands that you ran?

ROS melodic is fully deprecated - so my recommendation is to move over to ros2 foxy which is what we support on the voxl2 as of right now. I will try and recreate your issue in the meantime. Please try installing ros melodic base as the cv2 instance on there conflicts with opencv on voxl-sdk.

Spot on @Matt-Ooi - the voxl2 is natively meant to handle transformations for ardupilot and px4 - BUT you are using MAVROS which is a different tranformation all together - hence why you would have to do the transofmratio yourself before sending into the flight stack running ardupilot (aka when calling mavros offboard) or something

@robertshmurda this has been done by myself by piping the point cloud directly into the MPA.

You can grab the point cloud from whatever api/sdk exists for your lidar and as long as you can get it into the correct struct to pass through the MPA, you can do that and stream it directly to voxl-mapper.

If you have more questions - feel free to email me zachary.lowell@ascendengineer.com and we can hop on a call or something.

@jmltt said in Ros2 Humble on Voxl2:

Are there instructions on installing docker on target? The modalai guide (https://docs.modalai.com/docker-on-voxl/) references to just use the docker instructions to install via apt, but the docker install instructions linked to require an ubuntu o.s. newer than 20.04 so I wasn't sure if it would work.

@jmltt please find answers for your questions below:

1. Are there instructions on installing docker on target? The modalai guide (https://docs.modalai.com/docker-on-voxl/) references to just use the docker instructions to install via apt, but the docker install instructions linked to require an ubuntu o.s. newer than 20.04 so I wasn't sure if it would work. --> I always just use this file to install docker on target on the voxl2 (works for any ubuntu device as well btw): https://github.com/docker/docker-install/blob/master/install.sh

2. In switching to ros2 humble onboard the voxl2 do I need to update the dds client module and rebuild voxl-px4 and rebuild the voxl-microdds-agent as well? I'm assuming that if they're built to work with ros2 foxy they're going to be dependent on older versions of fast-dds than what humble would be using and might not be compatible -> No you do not need to reinstall the fast dds with a different instance. Keep in mind the DDS is ros2 agnostic and runs as the middleware BUT I will test this out this morning.

3. For examples the best I can do is show you what I do when running something like ros2 docker containers:

E.G:

                -v /usr/include/modal_pipe_common.h:/usr/include/modal_pipe_common.h \
                -v /usr/include/modal_pipe_client.h:/usr/include/modal_pipe_client.h \
                -v /usr/include/c_library_v2:/usr/include/c_library_v2 \
                -v /run/mpa:/run/mpa \
                -v /usr/bin/voxl-list-pipes:/usr/bin/voxl-list-pipes \
                -v /usr/include/voxl_cutils.h:/usr/include/voxl_cutils.h \
                -v /usr/include/cJSON.h:/usr/include/cJSON.h \
                -v /usr/include/modal_pipe_deprecated.h:/usr/include/modal_pipe_deprecated.h \
                -v /usr/include/modal_pipe_interfaces.h:/usr/include/modal_pipe_interfaces.h \
                -v /usr/include/modal_pipe_common.h:/usr/include/modal_pipe_common.h \
                -v /usr/include/modal_pipe_client.h:/usr/include/modal_pipe_client.h \
                -v /usr/include/modal_start_stop.h:/usr/include/modal_start_stop.h \
                -v /usr/lib64/libvoxl_cutils.so:/usr/lib/libvoxl_cutils.so \
                -v /usr/lib64/libmodal_json.so:/usr/lib/libmodal_json.so \
                -v /usr/lib64/libmodal_pipe.so:/usr/lib/libmodal_pipe.so \
		-v /usr/lib/libgbm.so:/usr/lib/aarch64-linux-gnu/libgbm.so \
                -v /tmp:/tmp \
                -v /etc/modalai:/etc/modalai \
                -v /dev:/host/dev"

            docker run --rm -it \
                --privileged \
                --net=host \
                --ipc=host \
                ${VOLUMES} \
                -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID \
                --entrypoint "/bin/bash" \
                DOCKER_IMAGE_NAME_AND_TAG -c /bin/bash

@alan123 said in Using a GPS through SPI:

I'm currently attempting to use a GPS through the J10 SPI port on the VOXL 2. I plugged it in and ran voxl-inspect-gps but it doesn't seem to be connected. Do I have to change some software settings to get this to work?

@alan123 yes you need to change the port that the driver is pointed to. Currently on the voxl2 inside of /usr/bin/voxl-px4-start there is a line that is somewhere along the lines of qshell gps start XYZ and in there one of those args is the literaly bus on the voxl2 that the driver should be probing - if you wish to change to J10, you need to change one of those arguments to point to that endpoint.

@rnunna at this point I would recommend either creating a python or cpp script that leverages mavsdk to probe the logs and get it into the format you are desiring.

Zach

@jared-upshaw the voxl mini also runs the flight stack, so ensure if you are leveraging the flight core v2 and plan on using the voxl2 mini purely for onboard compute, that you disable voxl-px4 on the voxl2 mini as to not get conflicting mavlink messages (serially connect the two over a uart)

As for camera setup, please find the link to the documentaiton on which cameras work with the voxl2 mini and how to wire them up!

https://docs.modalai.com/voxl2-mini-image-sensors/

@Muqing-Cao you have voxl-open-vins-server and voxl-qvio-server running at the same time. Only one can be run - modalAI defaulted to open-vins as the main method for positioning - if you have both running, you are bound to run into conflicting errors.

@Nitin-Varma-Vegesna said in GPS for Starling2:

I got the compass sensor missing error for my Starling2, and I think it's an issue with the GPS. I want to buy a new GPS for the Starling2 ASAP, and I didn't see it on the products on the website. Is there a way for me to do that?

1 Reply Last reply a day ago Reply

@Nitin-Varma-Vegesna https://store.3dr.com/mini-gps-ublox-max-m10s/ <-- this is the gps that comes default with the starlings.

@svempati said in No detections when running custom YOLOv8 model on voxl-tflite-server:

I just ran voxl-tflite-server directly from the command line instead of in the background via systemd - aka run voxl-tflite-server directly on the command line. I would recommend NOT quantizing your model as the directions in the train yolov8 do not recommend that.

Zach

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tflite-server/-/blob/master/include/tensor_data.h

These are all the potential data types that voxl-tflite-server is expecting.

@svempati said in No detections when running custom YOLOv8 model on voxl-tflite-server:

"labels": "/usr/bin/dnn/yolov8_labels.txt",

So running your model we get the following errors via voxl-tflite-server:

Error in TensorData<float>: should not reach here
Error in TensorData<float>: should not reach here
Error in TensorData<float>: should not reach here
Error in TensorData<float>: should not reach here
Error in TensorData<float>: should not reach here
Error in TensorData<float>: should not reach here
Error in TensorData<float>: should not reach here
Error in TensorData<float>: should not reach here

Which means there is an issue in your model itself and most likely means you ran into an issue during the build process. Specifically this means that is a model issue, not a labels file issue. Your .tflite model has an output tensor with a different data type than what voxl-tflite-server expects

The code itself shows the error when you hit this case statement:

// Gets the uint8_t tensor data pointer
template <>
inline uint8_t *TensorData(TfLiteTensor *tensor, int batch_index)
{
int nelems = 1;

for (int i = 1; i < tensor->dims->size; i++)
{
    nelems *= tensor->dims->data[i];
}

switch (tensor->type)
{
case kTfLiteUInt8:
    return tensor->data.uint8 + nelems * batch_index;
default:
    fprintf(stderr, "Error in %s: should not reach here\n",
            __FUNCTION__);
}

return nullptr;

}

Which means the output tensor doesnt match the expected output in this header file. Please look into your model.

zach

@jonathankampia said in M0201 gimbal passthrough pinout:

M0201

https://forum.modalai.com/topic/4735/m0201-m0153-j2-pinout/3

Please refer to this post for the pniout guide on the m0201

Hello @svempati can you paste your yolov8_labels and tflite file and I can test it out on my end?

To confirm - you followed the instructions in this gitlab repository: https://gitlab.com/voxl-public/support/voxl-train-yolov8

Zach