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
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
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.
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
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
We don't have a production mechanical solution yet for the TOF. We have used double sided sticky tape for prototypes, picture below. An extension cable, found here, might help make things easier.
That sounds like a vibration issue. Has.l anything changed mechanically?
A good way to debug vibration is to look at the px4 logs. If you upload to review.px4.io there are nice IMU vibration graphs
Hot plugging the camera is likely to break both the camera and the VOXL
If the board won't boot with the camera plugged in, then it is likely being plugged in backwards. Please make sure to line up the pin 1s and refer to the datasheets at docs.modalai.com
See this thread on stack overflow, it might be helpful
All of those seem likely to work, though we haven't tried them so there could be some debugging required.
You can actually build an ARM docker on your Linux desktop. The build process uses tons of space, so tough to say exactly what you're running in to. But, you can definitely try offline and then load it on target. (it will build MUCH faster too!)
Whoops, please check again
Check out an example of how to do this here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-mpa-exposure/-/blob/dev/CMakeLists.txt#L49
Good news. We will get that updated to be a little more clear.
that is a question for your wireless carrier. They can assign static IPs
Hi AJ,
It is not easy to integrate new MIPI sensors into the system. If the sensor is supported, see list here, then it is a hardware effort to integrate an interposer. There are no standard MIPI connectors, each platform is fairly different.
For a new sensor, it is up to a few months of code and tuning if no reference is available. You would need access unfortunately to Qualcomm's proprietary camera stack to integrate on your own.
Is there a specific module you are targeting, maybe we can help point you in the right direction?