@Mrunal-Sarvaiya voxl set cpu mode performance and than try running your experiment. By default some cpu cores are slower than the others even in perf mode

Hi @Moderator I have been trying to subscribe to vehicle_local_position ROS2 PX4 topic in my code but that wasn't working so I checked by echoing the topic directly from the terminal and it shows this error?

After doing some search online, I found that the PX4 and px4_msgs version might be different, since I am using voxl_ros2_foxy any ideas why this would be happening?

Voxl version info

voxl2:~/ros2_ws/src/Project_LegionAir(ROS2-port)$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.7.1-M0054-14.1a-perf-nightly-20231025
kernel:       #1 SMP PREEMPT Thu Oct 26 03:25:38 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   1.1.2
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
Last Updated: 2024-05-07 06:01:21
List:
	libmodal-cv                 0.4.0
	libmodal-exposure           0.1.0
	libmodal-journal            0.2.2
	libmodal-json               0.4.3
	libmodal-pipe               2.9.2
	libqrb5165-io               0.4.2
	libvoxl-cci-direct          0.2.1
	libvoxl-cutils              0.1.1
	mv-voxl                     0.1-r0
	qrb5165-bind                0.1-r0
	qrb5165-dfs-server          0.2.0
	qrb5165-imu-server          1.0.1
	qrb5165-rangefinder-server  0.1.1
	qrb5165-slpi-test-sig       01-r0
	qrb5165-system-tweaks       0.2.3
	qrb5165-tflite              2.8.0-2
	voxl-bind-spektrum          0.1.0
	voxl-camera-calibration     0.5.3
	voxl-camera-server          1.8.9.1
	voxl-configurator           0.4.8
	voxl-cpu-monitor            0.4.7
	voxl-docker-support         1.3.0
	voxl-elrs                   0.1.3
	voxl-esc                    1.3.7
	voxl-feature-tracker        0.3.2
	voxl-flow-server            0.3.3
	voxl-gphoto2-server         0.0.10
	voxl-jpeg-turbo             2.1.3-5
	voxl-lepton-server          1.2.0
	voxl-libgphoto2             0.0.4
	voxl-libuvc                 1.0.7
	voxl-logger                 0.3.5
	voxl-mavcam-manager         0.5.3
	voxl-mavlink                0.1.1
	voxl-mavlink-server         1.3.2
	voxl-microdds-agent         2.4.1-0
	voxl-modem                  1.0.8
	voxl-mongoose               7.7.0-1
	voxl-mpa-to-ros             0.3.7
	voxl-mpa-to-ros2            0.0.2
	voxl-mpa-tools              1.1.3
	voxl-neopixel-manager       0.0.3
	voxl-opencv                 4.5.5-2
	voxl-portal                 0.6.3
	voxl-px4                    1.14.0-2.0.63
	voxl-px4-imu-server         0.1.2
	voxl-px4-params             0.3.3
	voxl-qvio-server            1.0.0
	voxl-remote-id              0.0.9
	voxl-ros2-foxy              0.0.1
	voxl-streamer               0.7.4
	voxl-suite                  1.1.2
	voxl-tag-detector           0.0.4
	voxl-tflite-server          0.3.2
	voxl-utils                  1.3.3
	voxl-uvc-server             0.1.6
	voxl-vision-hub             1.7.3
	voxl2-system-image          1.7.1-r0
	voxl2-wlan                  1.0-r0
--------------------------------------------------------------------------------

@Moderator The structural integrity of the sensor mounts are fine, I checked. I am attaching a few snapshots of inspect-qvio and inspect-imu they also read ok

Drive video of inspect-imu: https://drive.google.com/file/d/1pncppR93pNUVlOQUq3WYwkAaN5uJArgJ/view?usp=sharing

Hi @Moderator my starling seems to be a bit jittery in position mode, note I had to kill the drone once and it fell from a height of 50 cms and since than it has been like that, What could be the issue here?

Here's a video of that for your reference

https://drive.google.com/file/d/1IRxTXNa_IzSQwImsHnB2Iz0KVi9nhrQ8/view?usp=drivesdk

@Eric-Katzfey I know this is a question for the px4 forum, but can you guys help me figure out how to run the https://github.com/PX4/px4_ros_com/blob/main/src/examples/offboard/offboard_control_srv.cpp service server here. I changed the namespace for my microdds client as you know and I am not sure if that service server is running or not, I can't find the server when I do ros2 service list or ros2 service find

Hi @Eric-Katzfey that worked, now I actually want to export a variable which states the namespace of the relevant drone and the voxl-px4-start file picks up that variable and assigns the namespace but I am facing some errors because of that, could you have a look

Here's my bashrc file

#!/bin/bash
# ModalAI default bashrc file

#VERSION 1.2

# If not running interactively, don't do anything
case $- in
    *i*) ;;
      *) return;;
esac

# don't put duplicate lines or lines starting with space in the history.
# See bash(1) for more options
HISTCONTROL=ignoreboth

# append to the history file, don't overwrite it
shopt -s histappend

# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
HISTSIZE=1000
HISTFILESIZE=2000

# check the window size after each command and, if necessary,
# update the values of LINES and COLUMNS.
shopt -s checkwinsize

# ubuntu ssh sets TERM to xterm-256color which screws with ROS
# change it to linux spec
export TERM=linux

if [ -d /home/root/.profile.d/ ]; then
  for i in /home/root/.profile.d/* ; do
    if [ -d $i ]; then
        for j in $i/* ; do
            if [ -f $j ]; then
                . $j
            fi
        done
    else
        . $i
    fi
  done
fi

# Put user-specific tweaks here or in a file in ~/.profile.d/
export PX4_NAMESPACE="uav_1"

Here's my voxl-px4-start file

#!/bin/sh
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
. px4-alias.sh

echo -e "\n*************************"
echo "GPS: $GPS"
echo "RC: $RC"
echo "ESC: $ESC"
echo "POWER MANAGER: $POWER_MANAGER"
echo "DISTANCE SENSOR: $DISTANCE_SENSOR"
echo "OSD: $OSD"
echo "EXTRA STEPS:"
for i in "${EXTRA_STEPS[@]}"
do
	echo -e "\t$i"
done
echo -e "*************************\n"

# In order to just exit after starting the uorb / muorb modules define
# the environment variable MINIMAL_PX4. (e.g. export MINIMAL_PX4=1)
# This is useful for testing / debug where you may want to start drivers
# and modules manually from the px4 command shell
if [ ! -z $MINIMAL_PX4 ]; then
    /bin/echo "Running minimal script"
    exit 0
fi

# Figure out what platform we are running on.
PLATFORM=`/usr/bin/voxl-platform 2> /dev/null`
RETURNCODE=$?
if [ $RETURNCODE -ne 0 ]; then
    # If we couldn't get the platform from the voxl-platform utility then check
    # /etc/version to see if there is an M0052 substring in the version string. If so,
    # then we assume that we are on M0052.
    VERSIONSTRING=$(</etc/version)
    M0052SUBSTRING="M0052"
    if [[ "$VERSIONSTRING" == *"$M0052SUBSTRING"* ]]; then
        PLATFORM="M0052"
    fi
fi

# We can only run on M0052, M0054, or M0104 so exit with error if that is not the case
if [ $PLATFORM = "M0052" ]; then
    /bin/echo "Running on M0052"
elif [ $PLATFORM = "M0054" ]; then
    /bin/echo "Running on M0054"
elif [ $PLATFORM = "M0104" ]; then
    /bin/echo "Running on M0104"
else
    /bin/echo "Error, cannot determine platform!"
    exit 0
fi

# Sleep a little here. A lot happens when the uorb and muorb start
# and we need to make sure that it all completes successfully to avoid
# any possible race conditions.
/bin/sleep 1

param select /data/px4/param/parameters

# Load in all of the parameters that have been saved in the file
param load

# Start logging and use timestamps for log files when possible.
# Add the "-e" option to start logging immediately. Default is
# to log only when armed. Caution must be used with the "-e" option
# because if power is removed without stopping the logger gracefully then
# the log file may be corrupted.
logger start -t

# IMU (accelerometer / gyroscope)
if [ "$PLATFORM" == "M0104" ]; then
    /bin/echo "Starting IMU driver with rotation 12"
    qshell icm42688p start -s -R 12
else
    /bin/echo "Starting IMU driver with no rotation"
    qshell icm42688p start -s
fi

# Start Invensense ICP 101xx barometer built on to VOXL 2
qshell icp101xx start -I -b 5

# Auto detect the magnetometer. If one or both of these devices
# are not connected it will fail but not cause any harm.
/bin/echo "Looking for qmc5883l magnetometer"
qshell qmc5883l start -R 10 -X -b 1
/bin/echo "Looking for ist8310 magnetometer"
qshell ist8310 start -R 10 -X -b 1

# GPS and magnetometer
if [ "$GPS" != "NONE" ]; then
	# On M0052 the GPS driver runs on the apps processor
	if [ $PLATFORM = "M0052" ]; then
	    gps start -d /dev/ttyHS2
	# On M0054 and M0104 the GPS driver runs on SLPI DSP
	else
	    qshell gps start
	fi
fi

# Auto detect an ncp5623c i2c RGB LED. If one isn't connected this will
# fail but not cause any harm. 
/bin/echo "Looking for ncp5623c RGB LED"
qshell rgbled_ncp5623c start -X -b 1 -f 400 -a 56

# We do not change the value of SYS_AUTOCONFIG but if it does not
# show up as used then it is not reported to QGC and we get a
# missing parameter error.
param touch SYS_AUTOCONFIG

# ESC driver
if [ "$ESC" == "VOXL_ESC" ]; then
    /bin/echo "Starting VOXL ESC driver"
	qshell voxl_esc start
elif [ "$ESC" == "VOXL2_IO_PWM_ESC" ]; then
	if [ "$RC" == "M0065_SBUS" ]; then
		/bin/echo "Starting VOXL IO for PWM ESC with SBUS RC"
		qshell voxl2_io start
	else
		/bin/echo "Starting VOXL IO for PWM ESC without SBUS RC"
		qshell voxl2_io start -e
	fi
else
	/bin/echo "No ESC type specified, not starting an ESC driver"
fi


# RC driver
if [ "$RC" == "FAKE_RC_INPUT" ]; then
    /bin/echo "Starting fake RC driver"
    qshell rc_controller start
elif [ "$RC" == "CRSF_RAW" ]; then
    /bin/echo "Starting CRSF RC driver"
    qshell crsf_rc start -d 7
elif [ "$RC" == "CRSF_MAV" ]; then
    /bin/echo "Starting TBS crossfire RC - MAV Mode"
    qshell mavlink_rc_in start -m -p 7 -b 115200
elif [ "$RC" == "SPEKTRUM" ]; then
    /bin/echo "Starting Spektrum RC"
	# On M0052 the RC driver runs on the apps processor
	if [ $PLATFORM = "M0052" ]; then
        rc_input start -d /dev/ttyHS1
	# On M0054 and M0104 the RC driver runs on SLPI DSP
	else
        qshell spektrum_rc start
	fi
elif [ "$RC" == "GHST" ]; then
    /bin/echo "Starting GHST RC driver"
    qshell ghst_rc start -d 7
elif [ "$RC" == "M0065_SBUS" ]; then
	if [ $PLATFORM = "M0052" ]; then
		apps_sbus start
	elif [ "$ESC" != "VOXL2_IO_PWM_ESC" ]; then
    	/bin/echo "Attempting to start M0065 SBUS RC driver for original M0065 FW"
    	qshell dsp_sbus start
		retVal=$?
		if [ $retVal -ne 0 ]; then
	    	/bin/echo "Starting M0065 SBUS RC driver for original M0065 FW failed"
	    	/bin/echo "Attempting to start M0065 SBUS RC driver for new M0065 FW"
			qshell voxl2_io start -d -p 7
		fi
	else
    	/bin/echo "M0065 SBUS RC driver already started with PWM ESC start"
	fi
fi

if [ "$DISTANCE_SENSOR" == "LIGHTWARE_SF000" ]; then
	# Make sure to set the parameter SENS_EN_SF0X to 8 for sf000/b sensor
	qshell lightware_laser_serial start -d 7
fi

if [ "$POWER_MANAGER" == "VOXLPM" ]; then
	# APM power monitor
	qshell voxlpm start -X -b 2
fi

# Optional distance sensor on spare i2c
# qshell vl53l0x start -X -b 4
# qshell vl53l1x start -X -b 4

# Start all of the processing modules on DSP
qshell sensors start
qshell ekf2 start
qshell mc_pos_control start
qshell mc_att_control start
qshell mc_rate_control start
qshell mc_hover_thrust_estimator start
qshell mc_autotune_attitude_control start
qshell land_detector start multicopter
qshell manual_control start
qshell control_allocator start
qshell load_mon start

# Only start the rc_update module if an actual RC driver
# is publishing input_rc topics. Otherwise for external RC
# over Mavlink this isn't needed.
if [ "$RC" != "EXTERNAL" ]; then
	qshell rc_update start
fi

qshell commander start

# This is needed for altitude and position hold modes
qshell flight_mode_manager start

# Start all of the processing modules on the applications processor
dataman start
navigator start
load_mon start

# This bridge allows raw data packets to be sent over UART to the ESC
modal_io_bridge start

# Start microdds_client for ros2 offboard messages from agent over localhost
microdds_client start -t udp -h 127.0.0.1 -p 8888 -n $PX4_NAMESPACE

# On M0052 there is only one IMU. So, PX4 needs to
# publish IMU samples externally for VIO to use.
if [ $PLATFORM = "M0052" ]; then
	imu_server start
fi

# start the onboard fast link to connect to voxl-mavlink-server
mavlink start -x -u 14556 -o 14557 -r 100000 -n lo -m onboard

# slow down some of the fastest streams
mavlink stream -u 14556 -s HIGHRES_IMU -r 10
mavlink stream -u 14556 -s ATTITUDE -r 10
mavlink stream -u 14556 -s ATTITUDE_QUATERNION -r 10
mavlink stream -u 14556 -s GLOBAL_POSITION_INT -r 30
mavlink stream -u 14556 -s SCALED_PRESSURE -r 10

# start the slow normal mode for voxl-mavlink-server to forward to GCS
mavlink start -x -u 14558 -o 14559 -r 100000 -n lo

mavlink boot_complete

# Optional MSP OSD driver for DJI goggles
# This is only supported on M0054 (with M0125 accessory board)
if [ "$OSD" == "ENABLE" ]; then
    /bin/echo "Starting OSD driver"
    msp_osd start -d /dev/ttyHS1
fi

# Start optional EXTRA_STEPS
for i in "${EXTRA_STEPS[@]}"
do
	$i
done

The errors that I get:

@Moderator THe only way to change microdds namespace is through QGC I tried that and it worked, but the issue is I need to manually type it up on each bootup of the FMU. As shown below:

Microdds service stopped and started with a namespace

Topics remapped on VOXL2

So I thought I could change the voxl-px4.conf to include this as a qshell command but that also didn't work as shown below

voxl-px4.conf file v1

voxl-px4.conf file v2

Both versions resulted in the Error in the restart/power cycle of systemd service

@Moderator Actually this is related to MicroUXRCE Agent for streaming PX4 FMU uORB topics as ROS2 topics, there is a way to rename the namespace for that but in MODAL AI I am not sure. MPATOROS2 is perfectly fine, I can just change the namespace using this command and that is not the issue here: ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node --ros-args -r __ns:=/drone3. I am talking about when there is no mpatoros2 node running and the Microdds agent streams the PX4 uorb topics as shown below:

@Zachary-Lowell-0 @Moderator A really important question here is what if there are two drones publishing the same name FMU topics and you haven't set the domain id different for those drones for data sharing through your custom interfaces. PX4 ROS2 docs provide a way to change the namespace of the FMU topics to be published but MODAL AI docs mention no such thing? Is there a way to do that? As most of the starling systems are being used as a swarm platform this thing is really critical

Hi @Moderator I am wondering if I can change the namespace as mentioned in the PX4-ROS2 docs here https://docs.px4.io/main/en/ros/ros2_comm.html#customizing-the-topic-namespace . I have 5 starlings in a swarm and I fear that at some point all of them might be subscribing or publishing to the same topic