Posts made by Gary Holmgren

@Zachary-Lowell-0 Is this supposed to be built with voxl-cross or qrb5165-emulator? I keep getting this error when trying to build on my machine.

=> ERROR [internal] load metadata for docker.io/arm64v8/ubuntu:focal      0.5s

ERROR: failed to solve: arm64v8/ubuntu:focal: failed to resolve source metadata 
for docker.io/arm64v8/ubuntu:focal: no match for platform in manifest: not found

When using voxl-docker -i voxl-cross I cant seem to get it to build as it doesnt detect docker running on the host computer? I got it to build on the voxl2 fine but id like to be able to build it on my host machine as well. Not exactly sure what I am missing to do that. Any tips would be appreciated!

I am wondering if the VOXL2 IO expansion board currently has the ability to connect to an ELRS receiver and allow voxl-elrs to use it. I could use J19 on VOXL 2 but im running a distance sensor there and id like to avoid splicing the power and ground for quick prototyping.

Hi , I am curious if anyone able to provide some guidance on how to change a PX4 parameter through a ROS2 node using MicroDDS. I am running foxy on VOXL 2 and I am trying to publish the updated parameter to VehicleCommand.msg topic but no luck in getting it to work. Has anyone else been able to do something similar? Would you recommend using MAVROS as an alternative for something like this?

@jonathankampia Was able to configure the correct startup script as described here. Thanks!

@Gary-Holmgren Figured it out, I hope this helps others with a similar setup.

I didn't notice before but in the usr/bin/voxl-px4-start script there is a comment:

# qshell vl53l1x start -X -b 4

Which you can make or replace to change the DISTANCE_SENSOR condition to:

if [ "$DISTANCE_SENSOR" == "VL53L1X" ]; then
	# Make sure to set the parameter SENS_EN_VL53L1X to 1 
	qshell vl53l1x start -X -b 4
	# qshell lightware_laser_serial start -d 7

Then you can change the voxl-px4-conf to:

DISTANCE_SENSOR=VL53L1X

After setting the relevant distance sensor / EKF2 params in QGC you should be able to restart voxl-px4 and the distance sensor will appear!

Hi i have been following along on this forum post about connecting an external rangefinder to VOXL 2's J19 QUP3 i2c connector for altitude/landing purposes. I have the Holybro version of this VL53L1X sensor. Supported in PX4. I am wondering if anyone else has tried to make this work directly with PX4 through the DSP.

I had tried editing the parameters for EKF2_HGT, and EKF2_RNG_CTL. As well as adding SENS_EN_VL53L1X 1 to the startup script. when I manually configure SENS_EN_VL53L1X 1 in QGC with the mavlink console (parameter is normally hidden) it works to enable it. However when I try to use SENS_EN_VL53L1X 1 in the voxl-px4.conf in EXTRA_STEPS=() file and restart voxl-px4 then QGC is no longer able to connect to voxl 2's px4 instance. Either way the distance sensor data is not being published or working correctly. I have triple checked my wiring to be as follows:

I also noticed for DISTANCE_SENSOR=NONE a comment states: "Options include: [NONE, LIGHTWARE_SF000] " is there a plan to include more options here or is this being replaced by the voxl-rangefinder-server.

It appears ModalAi's forked PX4 does include the drivers for this as shown:

@jonathankampia said in voxl 2 external rangefinder compatibility:

@jonathankampia Just to respond to my own post here in case anyone else has the same question: It does work! We hooked up a VL53L0X rangefinder to the QUP3 i2c ports in the J19 connector and were able to start the driver with no issues by adding the start command to the voxl-px4.conf file. Interestingly, you have to modify both the EKF2_HGT_REF parameter and a specific rangefinder priority parameter that controls whether rangefinder sensor fusion is enabled at all times or just conditionally. If it's just enabled conditionally, the rangefinder data does not fuse into the EKF2 local position estimator.

I have been playing aorund with this and connected the VL53L1X to the J19 i2c but no luck yet. I have modified the parameters for EKF2_HGT, and EKF2_RNG_CTL. I am curious how you added the start command to the voxl-px4.conf file. was it just

DISTANCE_SENSOR=VL53L1X

or something like

param set SENS_EN_VL53L1X 1

I was able to use QGC to to enable the SENS_EN_VL53L1X.

Not sure what else there could be but maybe I am missing a step. Also, I am using the Holybro VL53L1x found here

Any help would be appricated!

@Zachary-Lowell-0 Would definitely be a useful function. I am probably gonna stick with voxl2 running px4 for now since it simplifies things.

@Zachary-Lowell-0 Yes this did the trick, thankyou!

@Darshit-Desai Hi, wondering if you were able to solve this.

I installed ROS2 Foxy on my Voxl2 using the instructions

-sudo apt-get install voxl-ros2-foxy
-sudo apt-get install voxl-microdds-agent
-sudo apt-get install voxl-mpa-to-ros2
-voxl-configure-mpa-to-ros2
-source /opt/ros/foxy/setup.bash
-export ROS_HOME=/opt/ros/foxy

All seems to be okay but when I followed the ModalAI tutorial I get the following errors.

voxl2:/$ cd
voxl2:~$ mkdir -p colcon_ws/src
voxl2:~$ cd colcon_ws
voxl2:~/colcon_ws$ cd src
voxl2:~/colcon_ws/src$ git clone https://github.com/PX4/px4_ros_com --recursive
Cloning into 'px4_ros_com'...
remote: Enumerating objects: 2288, done.
remote: Counting objects: 100% (162/162), done.
remote: Compressing objects: 100% (47/47), done.
remote: Total 2288 (delta 128), reused 115 (delta 115), pack-reused 2126 (from 1)
Receiving objects: 100% (2288/2288), 608.87 KiB | 3.60 MiB/s, done.
Resolving deltas: 100% (1455/1455), done.
voxl2:~/colcon_ws/src$ git clone https://github.com/PX4/px4_msgs --recursive
Cloning into 'px4_msgs'...
remote: Enumerating objects: 3283, done.
remote: Counting objects: 100% (1092/1092), done.
remote: Compressing objects: 100% (268/268), done.
remote: Total 3283 (delta 961), reused 829 (delta 822), pack-reused 2191 (from 3)
Receiving objects: 100% (3283/3283), 607.13 KiB | 3.92 MiB/s, done.
Resolving deltas: 100% (2005/2005), done.
voxl2:~/colcon_ws/src$ cd ../
voxl2:~/colcon_ws$ colcon build
Starting >>> px4_msgs
--- stderr: px4_msgs                         
CMake Error at /opt/ros/foxy/share/rosidl_adapter/cmake/rosidl_adapt_interfaces.cmake:60 (message):
  execute_process(/usr/bin/python3 -m rosidl_adapter --package-name px4_msgs
  --arguments-file
  /home/root/colcon_ws/build/px4_msgs/rosidl_adapter__arguments__px4_msgs.json
  --output-dir /home/root/colcon_ws/build/px4_msgs/rosidl_adapter/px4_msgs
  --output-file
  /home/root/colcon_ws/build/px4_msgs/rosidl_adapter/px4_msgs.idls) returned
  error code 1:

  AttributeError processing template 'msg.idl.em'

  Traceback (most recent call last):

    File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 48, in evaluate_template
      _interpreter = em.Interpreter(

  AttributeError: module 'em' has no attribute 'Interpreter'

  

  During handling of the above exception, another exception occurred:

  

  Traceback (most recent call last):

    File "/usr/lib/python3.6/runpy.py", line 193, in _run_module_as_main
      "__main__", mod_spec)
    File "/usr/lib/python3.6/runpy.py", line 85, in _run_code
      exec(code, run_globals)
    File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__main__.py", line 19, in <module>
      sys.exit(main())
    File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/main.py", line 55, in main
      pathlib.Path(relative_path), output_dir)
    File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/__init__.py", line 20, in convert_to_idl
      package_dir, package_name, interface_file, output_dir / 'msg')
    File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/msg/__init__.py", line 39, in convert_msg_to_idl
      expand_template('msg.idl.em', data, output_file, encoding='iso-8859-1')
    File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 23, in expand_template
      content = evaluate_template(template_name, data)
    File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_adapter/resource/__init__.py", line 69, in evaluate_template
      _interpreter.shutdown()

  AttributeError: 'NoneType' object has no attribute 'shutdown'

Call Stack (most recent call first):
  /opt/ros/foxy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:130 (rosidl_adapt_interfaces)
  CMakeLists.txt:28 (rosidl_generate_interfaces)


---
Failed   <<< px4_msgs [4.33s, exited with code 1]
                                
Summary: 0 packages finished [4.71s]
  1 package failed: px4_msgs
  1 package had stderr output: px4_msgs
  1 package not processed

Not sure what exactly here is causing the failure. Has anyone else had trouble building this tutorial?

@Alex-Kushleyev I am wondering how I could map QUP2 VOXL2 J18, VOXL2 to work with the voxl-microdds-agent .service script that normally starts up in UDP.

ExecStart=/usr/bin/MicroXRCEAgent udp4 -p 8888

I want to change it to read from the J18 port on VOXL2 which has access via the Apps Proc as I am connected to it with an external FC (the FCv2). I know it would work on the /ttyHS1 with my UART expansion board but that is dedicated to a different motor controller board so i cant use that one unfortunately. Since I have voxl-px4 disabled there should be something I can put in this service script that would allow the microdds agent to read the uORB topics in PX4. Let me know if you have any suggestions.

Hi, I have set up ROS2 Foxy and the voxl-micro-dds-agent on my voxl2 and confirmed the uORB topics are being published in ROS2 as shown:

voxl2:/$ 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

I planned to use an external FC the FlightCoreV2, but I want to maintain the microdds functionality to get these topics to feed from that over UART. I have the FCv2 on the J18 DSP UART of the Voxl2 via the Apps Proc by disabling voxl-px4.

The FCv2 communicates with Voxl2 and works well but I am wondering if there are any known methods to maintain the uORB topics being published through microdds to Voxl2's ROS2 over UART using this setup. Any help on how to do that would be greatly appreciated!

Hello all, I have been trying to get mavsdk to build for my voxl2 but have not had any luck.

I keep getting this error when trying to build:

~/voxl-docker-mavsdk$ ./build.sh qrb5165
Image: voxl-mavsdk:v1.2
Checking for docker support on parent computer to build tar voxl mavsdk
-> Docker support is running on target. Continuing to build!
Waiting for voxl device...
Checking for docker support on modalAI device
-> Docker support is running on target.
Building image: voxl-mavsdk:v1.2
[+] Building 0.5s (2/2) FINISHED                                 docker:default
 => [internal] load build definition from Dockerfile                       0.0s
 => => transferring dockerfile: 1.17kB                                     0.0s
 => ERROR [internal] load metadata for docker.io/arm64v8/ubuntu:focal      0.5s
------
 > [internal] load metadata for docker.io/arm64v8/ubuntu:focal:
------
Dockerfile:1
--------------------
   1 | >>> FROM arm64v8/ubuntu:focal
   2 |     
   3 |     WORKDIR /home
--------------------
ERROR: failed to solve: arm64v8/ubuntu:focal: failed to resolve source metadata for docker.io/arm64v8/ubuntu:focal: no match for platform in manifest: not found```

I have followed the README but still haven't figured out whats going on. I am able to build the older mavsdk-python docker just fine however.

@Gary-Holmgren Turns out it wasn’t bricked my previous SDK had failed due to a connection issue in the cable and I just needed to reflash normally.

@tom This was indeed the solution, retried the SDK flash with normal fastboot and it worked. Thankyou!

@tom Hi thanks for the suggestion. Although I’m a bit confused what you mean by selecting board type? I downloaded the latest system image from miscellaneous which seems to be compatible with my M0054-1 board. I don’t see any option to select the board specifically in any of the setup for QDL