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    george kollamkulam

    @george kollamkulam

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    Latest posts made by george kollamkulam

    • RE: Incorrect battery0 voltage on QGC

      @Alex-Kushleyev Sorry for the delay.

      The voltage value seems to have decreased a little with time, but I don't think this is following the battery discharge trend. I started at 270.31 V just before take-off, and I was at 269.24 V after roughly 15 mins of flying. What could be the next steps to troubleshooting this issue?

      Thanks,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Starling 2 SLAM ROS2 Foxy

      @teddy-zaremba

      1. Screenshots are attached below. On the voxl portal, I'm able to see the tracking_down and tracking_front feeds, but I don't see the tracking_rear option (my Starling2 is in C27 config: 1 hires camera, 1 tof sensor, 3 tracking cameras). I haven't changed anything related to the default camera setup, except adding a Lepton 3.5 sensor. I was hoping to use the voxl-qvio-server, but I'm happy to explore openvins if that's more feasible. I don't see a red box, but I'm able to see the axes on the voxl mapper page, and its moving when I move the UAV.
        voxl-inspect-cam-a.png voxl-mapper.png voxl-inspect-pose.png voxl-inspect-services.png

      2. How can I access the voxl_mapper_aligned_ptcloud?

      Thanks,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Starling 2 SLAM ROS2 Foxy

      @teddy-zaremba thanks for your response.

      1. By default, are the stereo cameras being used? Or is it the tof sensor?

      2. To clarify, if we try to visualize voa_pc_out on rviz2, I would not be able to see the UAV movement. I would need to use a topic that already fuses imu_apps data with tof_pc data or create such a custom topic. Is my understanding correct?

      3. I'd be happy to try it. I've opened the voxl mapper page on the voxl portal and voxl-dfs-server is enabled, but I'm unable to start it with systemctl start voxl-dfs-server. I'm also unable to see /voxl_mapper_aligned_ptcloud under ros2 topic list (I don't think it's being published). How can we address these?

      4. What's the best way to get the created map from voxl mapper as a ROS2 foxy interface?

      Thanks,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Starling 2 - failure when entering offboard mode in Starling 2

      @Hector-Gutierrez thanks for the suggestion. However, I have now seen this unstable behavior in all modes (manual, altitude, position and offboard), both indoor and outdoors. I suspect that qvio is failing and trying to reset mid flight (Error: Not stationary was observed multiple times on the qvio_overlay page on VOXL portal). I don't think the GPS is even being used (QGC reports 100 HDOP and 0 satellites). The only mode where the UAV is controllable is Manual, but the qvio error is still present.

      @Alex-Kushleyev would you be able to share some insight into what could be happening? How can we resolve this issue?

      Thanks,
      George

      posted in Starling & Starling 2
      george kollamkulamG
      george kollamkulam
    • Starling 2 SLAM ROS2 Foxy

      Hello,

      I wanted to use ROS2 Foxy to run SLAM and create a map of an indoor environment on RViz2. Initially, I tried using /tof_pc to get point cloud data, but it seems this topic doesn’t account for the UAV’s position and orientation (Starling 2). As a result, the point cloud data kept appending to itself incorrectly, and I couldn’t generate a usable map.

      Could you clarify:

      1. What sensors are fused or used in /voa_pc_out?
      2. Does /voa_pc_out compensate for UAV movement, and is this topic alone sufficient for mapping an area?
      3. What topic combinations would you recommend for:
        i) LiDAR SLAM
        ii) Visual SLAM

      For example:
      a) imu_apps + tof_pc
      b) voa_pc_out
      c) tracking cameras + imu_apps
      d) any other combination

      Thanks,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: ROS2 Foxy Setup Issues

      @Aaron-Porter thanks for checking in. I'm able to see all the camera related ros2 topics now on the UAV and the laptop terminals.

      Cheers,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Teledyne FLIR Lepton 3.5 Integration

      @Alex-Kushleyev apart from the lepton sensor, I have 5 (1 hires, 1 tof and 3 tracking).

      Can you please point me to the resource that explains how to update the libmodal-journal package? Would I need to reinstall ROS2 Foxy or anything else?

      Thanks,
      George

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Teledyne FLIR Lepton 3.5 Integration

      @Alex-Kushleyev
      existing instance of voxl-camera-server found, attempting to stop it
      Number of cameras detected: 4

      On the voxl portal system check, it returned false for tracking_rear (VOXL-Camera-Server) and error for imageSensor2 (VOXL Image Sensors).
      ![Screenshot from 2025-07-09 10-43-06.png](Request Entity Too Large)

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Teledyne FLIR Lepton 3.5 Integration

      @Alex-Kushleyev I did a power cycle on the lepton sensor and it seems to be working now (click sound and feed available). All cameras except the rear tracking camera seems to be working fine (screenshot attached below). It doesn't show up on the voxl portal. How can we resolve this?

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam
    • RE: Teledyne FLIR Lepton 3.5 Integration

      @Alex-Kushleyev I tried using the Lepton 3.5 sensor again, but this time I was unable to see the feed on the voxl portal, although voxl-lepton-server and voxl-camera-services were running. Additionally, I couldn't hear the clicking sound from the lepton sensor that was previously present. What could be the issue here? Is there anything I'm missing?

      I also noticed that the rear tracking camera wasn't functional (I'm not sure if this is related to the functioning of the lepton camera). It was seen on the voxl system check page on the voxl portal.

      Lepton.png

      posted in Ask your questions right here!
      george kollamkulamG
      george kollamkulam