Hi @Tejas-Shah . Yes you can. We are using AT10 right now for ouru work.
Best posts made by gauravshukla914
RE: VOXL Flight will not flash image
The problem is because fastboot command needs root to run properly or else it wont detect device in bootloader.
refer this for more info about running it without root.
or simply run install.sh script as root.
Latest posts made by gauravshukla914
Cannot change TOF framerate
I am working with TOF and problem is I am not able to change the framerate. Even after passing the value for the argument frame_rate it does not seems to have any affect on the performance.
yocto:/# roslaunch voxl_hal3_tof_cam_ros tof.launch frame_rate:=5 ... logging to /home/root/.ros/log/1e64ae08-1dd2-11b2-b299-ec5c68cd1745/roslaunch-apq8096-8701.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://10.42.0.157:32875/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.21 * /tof/voxl_hal3_tof_cam_ros_node/auto_exposure: 0 * /tof/voxl_hal3_tof_cam_ros_node/camera_id: 1 * /tof/voxl_hal3_tof_cam_ros_node/exposure_time: 800 * /tof/voxl_hal3_tof_cam_ros_node/flip_image: True * /tof/voxl_hal3_tof_cam_ros_node/frame_rate: 5 * /tof/voxl_hal3_tof_cam_ros_node/ir_image_mode: False * /tof/voxl_hal3_tof_cam_ros_node/laser_scan_line: 86 * /tof/voxl_hal3_tof_cam_ros_node/publish_depth_image: True * /tof/voxl_hal3_tof_cam_ros_node/publish_ir_image: True * /tof/voxl_hal3_tof_cam_ros_node/publish_laser_scan: True * /tof/voxl_hal3_tof_cam_ros_node/publish_point_cloud: True * /tof/voxl_hal3_tof_cam_ros_node/scan_width_degrees: 96 NODES /tof/ voxl_hal3_tof_cam_ros_node (voxl_hal3_tof_cam_ros/voxl_hal3_tof_cam_ros_node) / base_link_laser_scan (tf2_ros/static_transform_publisher) base_link_tof_cam (tf2_ros/static_transform_publisher) ROS_MASTER_URI=http://localhost:11311/ core service [/rosout] found process[base_link_tof_cam-1]: started with pid  process[base_link_laser_scan-2]: started with pid  process[tof/voxl_hal3_tof_cam_ros_node-3]: started with pid  DEPTH_IMAGE IR: 1 ..... Cloud: 1 ..... Laser: 1 Camera id: 1 Image width: 224 Image height: 1557 Number of frames to dump: 0 Camera mode: preview SUCCESS: Camera module opened Camera Id: 0 .. Available raw sizes: raw size: 4208x3120 Camera Id: 1 .. Available raw sizes: raw size: 224x1557 (TOF?) Camera Id: 2 .. Available raw sizes: raw size: 640x480 SUCCESS: TOF interface created! =========== modalai Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!! =========== modalai Royale3.31, Spectre4.7 CameraDevice::activateUseCase() : return SUCCESS!! Libcamera sending RAW16 TOF data. App calling the PMD libs to postprocess the RAW16 data [ INFO] [1613747443.833934348]: Loading lens parameters from /data/misc/camera/irs10x0c_lens.cal. [ INFO] [1613747443.836526236]: cx/cy 114.822 89.022 fx/fy 111.394 111.394 tan coeff -0.00222965 -0.00368372 rad coeff -0.261745 0.098178 -0.0166875 Camera HAL3 ToF camera app is now running Frame: 0 SensorTimestamp = 1007492959341 Frame: 30 SensorTimestamp = 1008492961341 Frame: 60 SensorTimestamp = 1009492982341 Frame: 90 SensorTimestamp = 1010492981341 Frame: 120 SensorTimestamp = 1011492984341 Frame: 150 SensorTimestamp = 1012493005341 Frame: 180 SensorTimestamp = 1013493045341 Frame: 210 SensorTimestamp = 1014493011341
It seems that the frame_rate is hardcoded in hello_hal3_camera.h
static const uint8_t FrameRate = 30;
was it supposed to be hard-coded? if yes than how can I try different configuration as mention in the TOF data sheet
Rate: 5 - 45FPS in configurable option modes for distance / accuracy / framerate Exposure Time: 4.8 ms typ. @ 45 fps / 30 ms typ. @ 5 fps Range :4 - 6m Depth Resolution: <= 1% of distance (0.5 – 4m @ 5fps) <= 2% of distance (0.1 – 1m @ 45fps)
Here are the results for different FPS. They all look the same. Seems to have no effect of framerate argument
Adding addition devices
I have flight deck, Is it possible to interface addition sensors to the flight deck that are powered via USB. As there are no USB ports on the deck I don't know how to attach the device.
Device that I am looking to attach is a RFID reader and a sensor from Intel realsense family. Both of which needs USB 3.0
@Chad-Sweet To execute that command, we need to go inside voxl. But it is not allowing us to open the adb shell. Even after restarting it and nothing else (i.e just the shell), it still shows adb error. I have included a picture for you to look at it!
Is it possible to connect via team viewer to look into this issue? We can set up a time for it.
@Chad-Sweet We tried this by building our own ros kinetic expanded image as instructed, we also compiled mavros_test from the repository. But now adb is losing its connection frequently. Within a minute or so, it comes out of adb shell and also turns off the voxl hotspot and when we do adb devices, it says
Also, when we do adb shell, it says sometimes
This happens when we run this command as instructed - "voxl-imu-server running". Based on our observation, whenever we run this command, everything that we mentioned above happens.
Thanks for your reply.We are now able to use Octomap. But the problem we are facing is we are getting odometry using mavros and we are getting point cloud from hal3_tof_cam, but both of these topics are in different fixed frames. I wanted to know what is the idea behind using /base_link instead of /map in the fixed frame in voxl_hal3_tof_cam_ros?
We are trying to use Octomap on VOXL which has TOF installed. We are facing an issue with pcl_ros library, as octo map needs this library. Could you suggest a solution to this or if you could suggest which other 3D mapping package we could use.
Looking forward to your reply.
VOXL flight deck + toF Positioning
We are having a hard time positioning ToF into the flight deck in our final set-up. As of now, its on bench, but we want to attach it on flight deck and then on the drone. Could you please provide us with your suggestion, or send an image of your set-up, that you have used in your commercial video of the placement of ToF.
Since this hardware is very delicate, we want to take all the precautionary measure possible.
while we are at it, do you have a 3D enclosure for ToF that we can print and place the ToF so that we can attach it to the drone.
Looking forward to your reply.