ModalAI Forum

Can you share a picture of your setup? Is the Quectel RM502Q-AE installed?

It is probably worth upgrading the software to the latest release. The version you have is really old. I guess I can't say for sure that it will fix the problem, but it's likely to match the docs better for getting going

https://docs.modalai.com/voxl2-system-image/

posted a few basics in the docs https://docs.modalai.com/voxl-tflite-server/

You can see exactly where the image comes in her: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-tflite-server/-/blob/master/server/threads.cpp#L105

The pipes that voxl-camera-server publishes should be accessible in a Docker. You should be able to access them that way inside of a Docker. A voxl-mpa-to-ros2 service would be a good addition, we don't have that implemented yet.

Your understanding is correct, ModalAI's supported configurations are a result of Qualcomm limitations

@afdrus the relocalization is external to the VIO EKF. You can trace this code path here: https://gitlab.com/voxl-public/voxl-sdk/services/voxl-vision-hub/-/blob/master/src/tag_manager.c#L110

We have not had a problem shipping directly to Australia.

Are you flipping the fastboot switch back? Your symptom is consistent with leaving the fastboot switch engaged instead of setting it back to normal after a few seconds

Might be worth watching the tutorial here if you're unsure

The connectors on the image sensor modules have limited insertions, like 10-20. It seems like the connector itself is likely damaged. Sometimes you can see a bent pin under a microscope

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

• Were you able to fly successfully before frame modifications?
• How well does it fly manually? Have you looked at the logs in manual.mode for vibration?
• Can you please share a log of the VIO output?
• If you reset all of the software, you may need to recalibrate the cameras
• It looks like there are loose parts hanging off of the drone. VIO is VERY sensitive to vibration. Can you revert your frame modifications and try again?

For VIO use voxl-inspect-qvio

For GPS use voxl-inspect-gps

The source code for those is here

@MattK The VOXL SDK is common between VOXL CAM, VOXL 1 and VOXL 2, so the same messages will be sent in the same manner between VOXL and the flight controller over mavlink

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

Have you looked at the video tutorial here? https://docs.modalai.com/configure-extrinsics/

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/

I think you'll need to create a new service that behaves like voxl-qvio-server ? That might be the easiest if you want to drop it. Maybe try copying qvio-server and modifying to publish mocap data?

It would have shipped with everything tested and working. What do you mean by "passed the wizard"?

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:

• voxl-cam-ros
• snap_vio
• depth-from-stereo

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.

Why use Docker for this? voxl-logger is setup to do this for you already

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