Re: Fixed frame pose MPA to ROS

Similar to the various above threads, I am trying to figure out if there already exists some way of getting the detected April tag's offset relative the the MAV's local frame (for reference I'm using the frame that /mavros/local_position/pose provides). I'm unsure of how I can achieve this aside from manually piping and shifting through the data outputted by the voxl-inspect-tags command and converting into a ROS Pose. Do let me know if there already exists a method for accomplishing this or if there would be an easier way to retrieve this offset into a ROS pose.

For reference I am using a Starling with VOXL2 and system image: 1.7.6

My goal is to visualize the position of the drone relative to the detected April tag for accurate position targeting.

I have a VOXL Starling that can be unpredictable and for user studies I want to implement a software failsafe/trigger a shutdown to catch it incase I don't with the controller. Is the FCU Vision failure error/QVIO Failure error that shows in under voxl-inspect-qvio and within the default px4.launch configuration detectable in MAVROS/software? (is there a topic for it/way to check for it yet?). I would also appreciate it if anyone has any guidance for preventing these errors and getting stable indoor flights. It is a well-lit area and on a colorful carpet.

I was wondering if there is any code or command on the PX4/MAVROS/modalai side of the VOXL Starling that I can use to control what the drone does when it's navigation fails. I want to use the MAV in future HRI user studies but its unstability and randomly flying into things/away on navigation fails makes it impossible to do so just yet. I would prefer if I could edit the drone's actions to simply shutoff in-place or force itself it to land in-place instead of its navigation steering it astray.

@Eric-Katzfey Is there an existing service/configuration for collision avoidance on these platforms or do we have to implement our own using the TOF sensor data?

@Moderator said in Retrieving Apriltag offset from MAV local frame offset:

We love incorporating merge requests if you do end up with something useful!

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I've made a quick fix here for anyone looking for it, ill try to make a merge request/real fix for it soon

https://github.com/Joe1Ontiveros/ApriltagPublisher_Starling

@Eric-Katzfey I'm having the same issue on the VOXL Starling, the /etc/modalai/voxl-dfs-server.conf file is set to use the rear and front stereo intrinsics.yml and extrinstics.yml which don't exist due to what you just mentioned. Is there a specific setup/files we should set the voxl-dfs-server.conf to use ?

Re: Fixed frame pose MPA to ROS

Similar to the various above threads, I am trying to figure out if there already exists some way of getting the detected April tag's offset relative the the MAV's local frame (for reference I'm using the frame that /mavros/local_position/pose provides). I'm unsure of how I can achieve this aside from manually piping and shifting through the data outputted by the voxl-inspect-tags command and converting into a ROS Pose. Do let me know if there already exists a method for accomplishing this or if there would be an easier way to retrieve this offset into a ROS pose.

For reference I am using a Starling with VOXL2 and system image: 1.7.6

My goal is to visualize the position of the drone relative to the detected April tag for accurate position targeting.

@Eric-Katzfey Is there a reliable link to a working version we can purchase or exchange it with? Thanks!

Hi, I've been having issues setting up the HITL simulator using this cable connected to the VOXL2 J18 port on the Starling: https://www.modalai.com/collections/accessories/products/mcbl-00010
and I've been following this tutorial: https://docs.modalai.com/voxl2-PX4-hitl/

When I connect this cable to the host-PC running Ubuntu 20.04 there is no USB-serial connection detected or made other than the existing USB-C port and it is not found in /dev/ttyUSB# and dmesg -w does not show any connection being made. I am unsure if this is a cable issue (I've tried numerous mini-usb cables) or a problem with the way Linux handles the connection as this tutorial video has a similar setup: https://youtu.be/ysvpJdXFWaM?si=1ltYazXT03agZOAl

Any help is appreciated, thanks!