Hey @Aniruddha,
Thanks for reaching out, could you provide more information about your setup and how things are communicating?

Hey, I wanted to know if the VOXL 2 supports Bluetooth, ideally with an SDK that makes integration easy. If not, is there a module you’d recommend for adding Bluetooth support?

Hey @voxltester
It seems there is an issue with how MicroXRCE and the microhard modem interfaces are starting up, I had to edit the service files to get the topics on the VOXL2.
Edit /etc/systemd/system/voxl-microdds-agent.service:

[Unit]
Description=voxl-microdds-agent
SourcePath=/usr/bin/MicroXRCEAgent
After=network.target
After=multi-user.target

[Service]
User=root
Type=simple
ExecStart=/usr/bin/MicroXRCEAgent udp4 -p 8888

[Install]
WantedBy=multi-user.target

Edit /etc/systemd/system/voxl-modem.service:

[Unit]
Description=Modem Initialization
After=sdsprpcd.service

[Service]
User=root
Type=oneshot
ExecStartPre=/bin/sleep 2
ExecStart=/usr/bin/voxl-modem-start
RemainAfterExit=yes

[Install]
WantedBy=multi-user.target

Add export ROS_DOMAIN_ID=0 to your .bashrc
Reboot the VOXL2, and the topics should come up
Thanks

Hey @svempati
I trained a model in the docker command as provided by you. I am able to run an inference on potholes following exactly the steps provided by @Zachary-Lowell-0 earlier.
Could I ask you what your voxl-tflite-version is? And if you havent yet, could you try to run this version: http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.6/binary-arm64/voxl-tflite-server_0.5.1_arm64.deb
Make sure to change the .tflite model and labels as shown in the loom video after the install, then run voxl-configure-tflite

Thanks

@voxltester,
When you say voxl-microdds-agent doesnt work, do you mean it doesnt run? Or it doesnt create the topics? Whats the terminal output when you run it directly from the terminal?
Is your setup like earlier where you have the hat on and the wifi dongle is connected on the hat?

If the topics are only showing up after disabling the wifi interface, then I suspect its a ip routing issue, and that voxl microdds agent is binding to the first interface that comes up, which is the wifi.

Hey @yunwool
Just to be clear, consider only your first drone, if you run export ROS_DOMAIN_ID=1, then run ros2 topic list, you aren't seeing any topics right?

After you set the ROS_DOMAIN_ID of a drone to 1, to get the PX4 topics to show up, on QGC > Analyze Tools > MAVLink Console, run the following commands:

param set XRCE_DDS_DOM_ID 1
param save

Then power cycle the drone, give it like 15s after boot up, then the topics should come up directly when running ros2 topic list on that drone.

Hey @greg_s
I was able to reproduce the issue where the drone does not fly correctly toward the setpoint. I think reviewing the extrinsics.conf file is a good next step, as there may be an incorrect transform defined there.

Hey @yunwool
Did you try setting the ROS_LOCALHOST_ONLY variable to limit the topics to your local device?

Hey @greg_s
I just wanted to confirm, are you dragging the planned point to the height desired? By default, simply clicking on the map will generate a point at height 0.
Let me know, thanks

Hey @greg_s,
Can you post your voxl-logs and flight logs?

Thanks