Hello,

We are testing the Rb5 outdoor in position mode.
We have the GPS coordinates but the drone keeps drifting.
Questions:

1. Why is it drifting?
2. is the drone using only VIO, or GPS, or both when flying in position mode?
3. How can we use GPS and VIO in position mode?

Notes: We have flashed the drone. What are the parameters needing to be set again?

Best wishes,

@Zachary-Lowell-0

I have already install the foxy.
I'm building ROS2 nodes now on a container on Vscode on my computer.
I want to push the build in the RB5 and run it their, just like building figure 8 out of the Rb5 and then push the build in the Rb5 to run it.

Do I have to push the whole container instance or just the src folder.

I pushed already the src folder via adb push, and it generated the error above.

Thanks

@Zachary-Lowell-0
I just pushed the src folder in the rb5 after the colcon in VSCode.
How do you do the following?
"
pushing your docker instance to the voxl2, then deploying the docker container, and running ros2 run command inside the docker container correct?
"

Best wishes,

@teddy-zaremba

Hi
Thank for your support.
I have used a docker environment in VsCode(ROS2-foxy + PX4).
I have colcon built a package, and I have pushed the build into the Rb5.
When running the ros2 run xx_pkg_py py_node
the code starts executing, then through an error regarding ros_idl.

Any help on this?
Is this to do with the pushing of the packages into the Rb5?

Here is the error:

rb5:/opt/ros/foxy/Fig8_pkg_py$ ros2 run figure8_py py_node
[INFO] [1745326367.028604419] [offboard_figure8_node]: (Qualcomm RB5):Offboard Figure 8 Node Alive!
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
return importlib.import_module(module_name, package=pkg_name)
File "/usr/lib/python3.6/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 994, in _gcd_import
File "<frozen importlib._bootstrap>", line 971, in _find_and_load
File "<frozen importlib._bootstrap>", line 953, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'px4_msgs.px4_msgs_s__rosidl_typesupport_c'

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/opt/ros/foxy/Fig8_pkg_py/install/figure8_py/lib/figure8_py/py_node", line 11, in <module>
load_entry_point('figure8-py==0.0.0', 'console_scripts', 'py_node')()
File "/opt/ros/foxy/Fig8_pkg_py/install/figure8_py/lib/python3.8/site-packages/figure8_py/figure8_massa.py", line 201, in main
offboard_figure8_node = OffboardFigure8Node()
File "/opt/ros/foxy/Fig8_pkg_py/install/figure8_py/lib/python3.8/site-packages/figure8_py/figure8_massa.py", line 28, in init
OffboardControlMode, '/fmu/in/offboard_control_mode', qos_profile)
File "/opt/ros/foxy/lib/python3.6/site-packages/rclpy/node.py", line 1144, in create_publisher
check_for_type_support(msg_type)
File "/opt/ros/foxy/lib/python3.6/site-packages/rclpy/type_support.py", line 29, in check_for_type_support
msg_type.class.import_type_support()
File "/opt/ros/foxy/Fig8_pkg_py/install/px4_msgs/lib/python3.8/site-packages/px4_msgs/msg/_offboard_control_mode.py", line 27, in import_type_support
module = import_type_support('px4_msgs')
File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_generator_py/import_type_support_impl.py", line 48, in import_type_support
raise UnsupportedTypeSupport(pkg_name)
rosidl_generator_py.import_type_support_impl.UnsupportedTypeSupport: Could not import 'rosidl_typesupport_c' for package 'px4_msgs'

Best wishes,

Hi,
I have the following 5G rb5

system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125

hw version: M0052

voxl-suite: 1.1.2

current IP: wlan0: 192.168.1.35

I have a motion capture system, and would like to send data from it to the RB5.
What are the required settings on the rb5?

Best wishes,

@Zachary-Lowell-0

1. What kind of upgrade is necessary for this Rb5? Should we upgrade the sdk?
   we can run ros2 foxy with it. The dds is also working.

2. How did you build this ros2 packages and nodes
   https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2

Thank you

Hi

I have the following Rb5
system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125
hw version: M0052
voxl-suite: 1.1.2

Question:
Which development environment is suitable to build ROS2 packages and nodes for the RB5?
I have listed the following environment so far

1)VScode ROS2 environment

2)Voxl-emulator 

3)RB5-flight emulator 

4)docker pull arm64v8/ros 

Thanks

@teddy-zaremba

Thank you.
Let me have a look.

Best wishes,

Hi,
We have the following Rb5:
system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125
hw version: M0052
voxl-suite: 1.1.2

Here is our problem:
We have a mavlink based GCS and would like to get the position of the drone in the fixed frame defined by the QR-code like tags. We are connecting over port 14550, but can only get the PX4 local frame. The tag information is set in the tag locations file and the appropriate parameters in the voxl-vision-hub.conf are also set.
Question: How can we get the current position of the drone in the fixed frame defined by the tags, preferably over mavlink? We're assuming there's some extra config somewhere that we are missing, since clearly the incoming setpoints can be translated between the coordinate systems.

Thanks

@teddy-zaremba

Where can I get this docker image?
Do you have a link?

Thanks,

Hi,

I have the following Rb5:
system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125

hw version: M0052

voxl-suite: 1.1.2

current IP: wlan0: 192.168.1.32

How to build-compile FOXY ROS2 packages and nodes for this RB5 ?
What kind of environment can be used to run colcon build to get ROS2 packages and nodes for the Rb5?

Thanks!