Topics created by aashry

@aashry

VIO and EKF2 are separate, concurrent state estimations. You can see where voxl-vision-hub sends the VIO data to PX4's EKF2 here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/vio_manager.c?ref_type=heads#L395

I'm not sure what mavros uses, but here is the mpa-to-ros code to publish VIO data https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros/-/blob/master/catkin_ws/src/src/interfaces/vio_interface.cpp?ref_type=heads#L151

@aashry

Yes, definitely update the SDK first! We're many versions past SDK 0.9. Once you do, try again and let me know, I'll be happy to help.

Thomas

@Alex-Kushleyev thanks - I think the voxl-streamer was enabled, but not running.
Problem solved, thank you!

@tom sorry for the late reply, I've been distant from work for one week. I'm using m500 drone with the voxl flight deck. Below is the voxl-version output as you requested. I will probably try to follow what @jonathankampia mentioned and see if it works. I will update the thread here accordingly. Thank you guys for your help, appreciate it.

-------------------------------------------------------------------------------- system-image: 4.0.0 kernel: #1 SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf -------------------------------------------------------------------------------- hw version: VOXL -------------------------------------------------------------------------------- voxl-suite: 0.9.4 -------------------------------------------------------------------------------- Packages: Repo: http://voxl-packages.modalai.com/dists/apq8096/sdk-0.9/binary-arm64/ Last Updated: 1970-01-01 00:05:23 List: apq8096-dfs-server 0.3.1 apq8096-imu-server 1.0.3 apq8096-libpng 1.6.38-1 apq8096-system-tweaks 0.1.3 apq8096-tflite 2.8.3-1 libapq8096-io 0.6.0 libmodal-cv 0.2.3 libmodal-exposure 0.0.7 libmodal-journal 0.2.1 libmodal-json 0.4.3 libmodal-pipe 2.6.0 libvoxl-cci-direct 0.1.5 libvoxl-cutils 0.1.1 voxl-camera-calibration 0.2.3 voxl-camera-server 1.3.5 voxl-cpu-monitor 0.3.0 voxl-docker-support 1.2.4 voxl-gphoto2-server 0.0.10 voxl-jpeg-turbo 2.1.3-4 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.3.4 voxl-mavlink 0.1.0 voxl-mavlink-server 0.2.0 voxl-modem 0.16.1 voxl-mongoose 7.7.0-1 voxl-mpa-to-ros 0.3.6 voxl-mpa-tools 0.7.6 voxl-opencv 4.5.5-1 voxl-portal 0.4.2 voxl-qvio-server 0.8.2 voxl-streamer 0.4.1 voxl-suite 0.9.4 voxl-system-image 4.0-r0 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.1 voxl-utils 1.2.2 voxl-uvc-server 0.1.3 voxl-vision-px4 1.4.0 voxl-vpn 0.0.6 --------------------------------------------------------------------------------

@aashry Unfortunately we don't do too much ROS work around here so I'm not sure if someone else will respond with a better answer, but... I would highly recommend pointing a fan at your VOXL while doing development on your bench and see if that affects performance.

As you mentioned, VOXL2 is much more powerful and will likely perform much better in all ways (also much more developer friendly since it's runs Ubuntu 18 as opposed to VOXL's yocto build), but it makes sense that you want to get things working on your current hardware

@tpavlic Thank you, glad it helped!