Topics created by Darshit Desai

@Darshit-Desai , In short,

the VOXL2 system image contains the main Linux OS that is built from open source components and it also contains open-source and closed-source components that are specific to Qualcomm hardware. Building the system image uses bitbake and a very long manifest which has a list of SW components, their exact version and source, as well as order in which the components should be built). you cannot use dd to back up and restore system partitions, as you may be able to do on a Raspberry Pi. Fastboot is the tool that is used to properly install the system partitions. voxl-suite is a collection of software that is installed on top of the base OS on VOXL2. For each SDK version, we also have a manifest of each component and version that should go into the SDK.

Can you clarify which deb files you mean in its always annoying to install the deb files one by one and revving up the versions -- are you updating SDK or installing your some other deb files?

It sounds like you may have per vehicle configuration (every set up is slightly different). You can differentiate the VOXL2 boards using the SoC serial number (cat /sys/devices/soc0/serial_number) and do your custom install based on the serial number. Basically you would have your own "manifest" of some type that may have common parts but also describe different settings for different boards (IP address, etc). You can maintain different bash files for each board and install them based on the serial number.

Alex

@Darshit-Desai Here is the output from echo'ing local position.

voxl2:~/colcon_ws$ ros2 topic list /fmu/in/obstacle_distance /fmu/in/offboard_control_mode /fmu/in/onboard_computer_status /fmu/in/sensor_optical_flow /fmu/in/telemetry_status /fmu/in/trajectory_setpoint /fmu/in/vehicle_attitude_setpoint /fmu/in/vehicle_command /fmu/in/vehicle_mocap_odometry /fmu/in/vehicle_rates_setpoint /fmu/in/vehicle_trajectory_bezier /fmu/in/vehicle_trajectory_waypoint /fmu/in/vehicle_visual_odometry /fmu/out/failsafe_flags /fmu/out/position_setpoint_triplet /fmu/out/sensor_combined /fmu/out/timesync_status /fmu/out/vehicle_attitude /fmu/out/vehicle_control_mode /fmu/out/vehicle_local_position /fmu/out/vehicle_odometry /fmu/out/vehicle_status /parameter_events /rosout voxl2:~/colcon_ws$ ros2 topic echo /fmu/out/vehicle_local_position timestamp: 1716299017260605 timestamp_sample: 1716299017259933 xy_valid: false z_valid: true v_xy_valid: false v_z_valid: true x: -0.015882886946201324 y: -0.006520443130284548 z: 3.26619815826416 delta_xy: [-9.292006097894046e-08, -1.9959152552928572e-07] xy_reset_counter: 1 delta_z: 0.0 z_reset_counter: 1 vx: 0.0007984319818206131 vy: -0.001192234456539154 vz: 0.006735446862876415 z_deriv: 0.014136962592601776 delta_vxy: [-1.0643154382705688e-05, -2.2861408069729805e-05] vxy_reset_counter: 1 delta_vz: 1.583993434906006e-05 vz_reset_counter: 1 ax: 0.042993903160095215 ay: -0.06323475390672684 az: -0.10127022862434387 heading: -0.12067540735006332 delta_heading: 0.0 heading_reset_counter: 0 heading_good_for_control: false xy_global: false z_global: false ref_timestamp: 0 ref_lat: .nan ref_lon: .nan ref_alt: .nan dist_bottom: 0.10000000149011612 dist_bottom_valid: false dist_bottom_sensor_bitfield: 0 eph: 0.012850395403802395 epv: 0.3351651430130005 evh: 0.04047877714037895 evv: 0.06853056699037552 dead_reckoning: true vxy_max: .inf vz_max: .inf hagl_min: .inf hagl_max: .inf ---

Voxl version

system-image: 1.7.4-M0054-14.1a-perf kernel: #1 SMP PREEMPT Fri Feb 9 21:59:24 UTC 2024 4.19.125 -------------------------------------------------------------------------------- hw platform: M0054 mach.var: 1.0 -------------------------------------------------------------------------------- voxl-suite: 1.1.3-1 Packages: Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/ Last Updated: 2024-05-21 13:30:13 List: kernel-module-voxl-fsync-mod-4.19.125 1.0-r0 kernel-module-voxl-gpio-mod-4.19.125 1.0-r0 kernel-module-voxl-platform-mod-4.19.125 1.0-r0 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 0.2.6 qrb5165-tflite 2.8.0-2 voxl-bind-spektrum 0.1.0 voxl-camera-calibration 0.5.3 voxl-camera-server 1.8.9 voxl-ceres-solver 2:1.14.0-10 voxl-configurator 0.5.2 voxl-cpu-monitor 0.4.7 voxl-docker-support 1.3.0 voxl-elrs 0.1.3 voxl-esc 1.4.0 voxl-feature-tracker 0.3.2 voxl-flow-server 0.3.3 voxl-fsync-mod 1.0-r0 voxl-gphoto2-server 0.0.10 voxl-gpio-mod 1.0-r0 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-open-vins 0.4.4 voxl-open-vins-server 0.2.18 voxl-opencv 4.5.5-2 voxl-platform-mod 1.0-r0 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 1.1.3-1 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.1 voxl-utils 1.3.8 voxl-uvc-server 0.1.6 voxl-vision-hub 1.7.3 voxl2-system-image 1.7.4-r0 voxl2-wlan 1.0-r0 --------------------------------------------------------------------------------

px4_msgs branch

voxl2:~/colcon_ws/src/px4_msgs(release/1.14)$ git branch * release/1.14

@Darshit-Desai what do those do when you're flying? Sitting on the ground isn't really stressing the system

@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

@Zachary-Lowell-0 I am not sure how I resolved this, but as far as I remember there was px4_msgs versioning issue where I wasn't using either the correct ones or something

@Darshit-Desai Sure, the easiest way would be to create a custom systemd service file

@Zachary-Lowell-0 Yes I was able to install docker of u22.04, but at the same time when I was running everything on natively in melodic on the drone I was able to use 3rd party libraries like PCL ROS and I was able to install it, this was because the ROS installation was left on the user. I just thought it would be same with ROS2. Although now I have set up ARM64 dockers in my desktop ubuntu so now I can make as many changes on my desktop and just push the new docker

@Moderator @Zachary-Lowell-0 there is a similar issue with trying to include the message type AIDetection.h in ROS2 mpatoros2.

@Eric-Katzfey as far as I know docker image in the voxl2 ecosystem is used for installing stuff like a different version of Ros or opencv or some other dependency. In my case I modified a lot of back end services and the .conf files, that along with some of the Ros dependencies make the process of cloning a drone atleast 1.5 hr long. Making a docker image for ros dependencies and installing it would shave off only half off that time the other half I would still need to reconfigure voxl2 sdk as my other drone. For 4-5 drones it's fine, but for more 5 it's not

@Darshit-Desai Hi Darshit, you will need to modify the code to support what you would like to achieve. If you'd like to mainline, we accept merge requests

@Darshit-Desai , i would say the best way to confirm storage order would be to print out the memory location of the vector’s 0th, 1st and 2nd element after you put it into eigen structure. You should be able to get the pointer using & operator and print out the pointer using printf(“%p”, ptr). If the 3 pointer values are separated by 4 or 8 (single or double precision), then storage order is optimal

@Darshit-Desai , if you don't have the emulator docker, the next best thing to do is to build the package right on target, using ./build.sh native option. please try.

@Moderator I had to explicitly change the system variable CMAKE_PREFIX_PATH every time to /opt/ros/melodic only to build the nodes. Building a new voxl package might break things and I don't want to do that.

@Darshit-Desai No, the Sentinel propellers would not likely fit. You should use the recommended propellers or risk serious damage.

@Darshit-Desai , yes, feel free to modify the code as you need for right now for your own testing. Once i have a chance, i will make the mode selection (long / short) and FPS more flexible.

I hope this unblocked your work and you can move forward.

Alex

@Darshit-Desai We do not have a ready to fly reference yet. VOXL 2 Mini and the VOXL ESC Mini both support the industry standard 30.5mm mounting hole pattern, so you should be able to find a frame to fly.

@Darshit-Desai , yes i believe you are showing the TOF and Hires camera local frames correctly.

As for the vehicle, the convention we normally use is FRD, but since you mentioned that you are assuming FLU in your case, that also looks correct.

@Darshit-Desai said in VOXL2 mpatoros2 build:

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2.git

@Darshit-Desai I am a bit lost as to why having wifi would matter in this instance. When you run voxl-inspect-cam -a what is the output? Are all the cameras actively streaming at 30 FPS from camera server?

@Zachary-Lowell-0 Ok got it this worked. Thanks

@Darshit-Desai what do you have set for ekf2_aid_mask. The fact that you cannot go into position mode means something is barring you from moving into position mode, aka a specific parameter. If your QVIO quality is good, then a parameter in your PX4 isntance is off.