Thanks for posting the ssl fix. We're looking into this. We don't typically use rosdep for anything. Is there something specific you need to get working?
A more traditional ROS experience is easy to achieve running Ubuntu in a Docker on VOXL : https://docs.modalai.com/docker-on-voxl/
It would have shipped with everything tested and working. What do you mean by "passed the wizard"?
Your understanding is correct, ModalAI's supported configurations are a result of Qualcomm limitations
You should be able to use the open source PX4 avoidance, but it may require a bit of an atypical architecture. When trying to use big ROS projects we recommended running Ubuntu on VOXL in Docker
The base Yocto layer should be ROS core and expose the VIO and depth from stereo modules:
Then the Ubuntu OS in the Docker should subscribe to the appropriate hardware layer topics to execute the PX4 Autonomy
We should have this better documented, but keep asking on this thread and we'll try to get you going. Shouldn't be any major blockers, but a few tweaks are probably necessary.
The system was tested in VIO mode for 20 minutes before shipping. All drones are very sensitive to frame modifications, so this needs to be done carefully
We do not have a thermal option available today, though the Flir Boson and Lepton have been integrated by customers in the past using USB
Stereo cameras need to be co-planar and mounted rigidly. Then they need to be calibrated. Otherwise you should be able to mount wherever convenient
We haven't tried the Avoidance stack in a while, so it's probably going to come down to what you are more comfortable with. If you are comfortable with Gazebo, SITL might be a good way to go.
The trick with ROS always comes down to making sure all of the nodes are talking to each other. There is a good tutorial on debugging ROS here
You'll want to have a list of the ROS topics the Ubuntu PX4 Avoidance stack requires, and then a list of the ROS topics the yocto base layer is providing. Then you'll need to map the two together.
You should only have one roscore, which should likely be in the Yocto layer. Your PC implementation should be able to see that if you have ROS_IP, etc configured properly.
The most valuable tool right now will probably be rostopic list and rostopic echo. Run ros topic on each of the layers:
Make sure you see the proper topics in each location and that they are publishing data.
Regarding stereo, I don't think that PX4 docs section is applicable. That RosDfsExample node should already be publishing a disparity map and point cloud. You can see it is publishing the disparity map here and point cloud here
You can see an example of how to write telemetry on top of a video frame here
https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-qvio-server/-/blob/master/server/main.cpp#L715
It is the way for software to tell which TOF driver should be used. Setting to 1 supports the HAL3 method you are using, setting to 0 supports the older libCamera method using tof_cam_ros
The HAL3 method is intended to give the developer more control over the pipeline
Assuming the ipk is installed, can you please then run this command and then try the ROS node again?
setprop persist.camera.modalai.tof 1
If you are referring to 5G NR connections, you should see some information in the next 2 months. Sign up for the newsletter at the bottom of modalai.com and we'll be sharing details there.
Hey Pawel, the following article might help. Another name for NV21 is YUV420sp (it is the common format used in Android phones which is another thing to search for). This article takes a YUV420sp image and saves to jpg. I haven't tried it and can't guarantee it will work, but it looks reasonable.
https://www.programmersought.com/article/99965201309/
In general, search for yuv420sp to jpeg
You can see an example of how to write telemetry on top of a video frame here
https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-qvio-server/-/blob/master/server/main.cpp#L715
It depends on the datarate (based on resolution), but it will start to fail pretty quickly after 20cm
If the data is not very accurate, it is likely you need to recalibrate the stereo sensors. Instructions are here
Otherwise, the data is published here disparity and point cloud. We provide the code so you can change how you see fit for your application
Hi Prasanth, you should be able to find how to connect to ESCs, GPS, and other peripherals here: https://docs.modalai.com/flight-core-connections/
That page is relevant for both Flight Core independently and integrated with VOXL on VOXL Flight
Check out the docs here: https://docs.modalai.com/flight-core-radios/#frsky
and here: https://docs.modalai.com/flight-core-connections/#rc-receiver
and this cable here: https://www.modalai.com/products/rc-input-cable-servo-s-bus-frsky?_pos=1&_sid=3eb0aeb9d&_ss=r
Hi Reg, we have not performed formal characterization of those modules yet. We expect them to perform well in typical consumer electronics environments, 0-55C for instance.
You need to use the latest version of voxl-docker from developer.modalai.com
Nothing concerning stands out. Seems like you just need IMU, high-res and tracking cameras which are all available.