@Alex-Kushleyev here's the system response.

voxl2:/$ cd /home/root
voxl2:~$ dpkg -i libmodal-journal_0.2.6-202505081055_arm64.deb
(Reading database ... 137565 files and directories currently installed.)
Preparing to unpack libmodal-journal_0.2.6-202505081055_arm64.deb ...
Unpacking libmodal-journal (0.2.6-202505081055) over (0.2.5) ...
Setting up libmodal-journal (0.2.6-202505081055) ...
Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
voxl2:~$ dpkg -l | grep libmodal-journal
ii libmodal-journal 0.2.6-202505081055 arm64 Journaling library
voxl2:~$ voxl-camera-server -l
existing instance of voxl-camera-server found, attempting to stop it
DEBUG: Attempting to open the hal module
DEBUG: SUCCESS: Camera module opened on attempt 0
DEBUG: ----------- Number of cameras: 4

DEBUG: Cam idx: 0, Cam slot: 0, Slave Address: 0x0030, Sensor Id: 0x0356
DEBUG: Cam idx: 1, Cam slot: 1, Slave Address: 0x0034, Sensor Id: 0x0577
DEBUG: Cam idx: 2, Cam slot: 3, Slave Address: 0x007A, Sensor Id: 0x2975
DEBUG: Cam idx: 3, Cam slot: 6, Slave Address: 0x0030, Sensor Id: 0x0356
DEBUG: Note: This list comes from the HAL module and may not be indicative
DEBUG: of configurations that have full pipelines

DEBUG: Number of cameras: 4

====================================
Stats for camera: 0

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
1280 x 800
1280 x 800

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 800 HAL_PIXEL_FORMAT_BLOB
1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 768 HAL_PIXEL_FORMAT_BLOB
1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 720 HAL_PIXEL_FORMAT_BLOB
1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 738 HAL_PIXEL_FORMAT_BLOB
1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 768 HAL_PIXEL_FORMAT_BLOB
864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
864 x 480 HAL_PIXEL_FORMAT_BLOB
800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 600 HAL_PIXEL_FORMAT_BLOB
800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 480 HAL_PIXEL_FORMAT_BLOB
720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 512 HAL_PIXEL_FORMAT_BLOB
640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 400 HAL_PIXEL_FORMAT_BLOB
640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 360 HAL_PIXEL_FORMAT_BLOB
352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
352 x 288 HAL_PIXEL_FORMAT_BLOB
320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
320 x 240 HAL_PIXEL_FORMAT_BLOB
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
1280 x 800 HAL_PIXEL_FORMAT_RAW10
1280 x 800 HAL_PIXEL_FORMAT_RAW12
1280 x 800 HAL_PIXEL_FORMAT_RAW16
1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 54
max = 1596

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
1596

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 1318629735ns

====================================
Stats for camera: 1

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
4056 x 3040
3840 x 2160
1920 x 1080
1920 x 1080
1920 x 1080
1280 x 720
1280 x 720

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
4056 x 3040 HAL_PIXEL_FORMAT_YCbCr_420_888
4056 x 3040 HAL_PIXEL_FORMAT_BLOB
4000 x 3000 HAL_PIXEL_FORMAT_YCbCr_420_888
4000 x 3000 HAL_PIXEL_FORMAT_BLOB
3840 x 2160 HAL_PIXEL_FORMAT_YCbCr_420_888
3840 x 2160 HAL_PIXEL_FORMAT_BLOB
3264 x 2448 HAL_PIXEL_FORMAT_YCbCr_420_888
3264 x 2448 HAL_PIXEL_FORMAT_BLOB
3200 x 2400 HAL_PIXEL_FORMAT_YCbCr_420_888
3200 x 2400 HAL_PIXEL_FORMAT_BLOB
2976 x 2976 HAL_PIXEL_FORMAT_YCbCr_420_888
2976 x 2976 HAL_PIXEL_FORMAT_BLOB
2688 x 1512 HAL_PIXEL_FORMAT_YCbCr_420_888
2688 x 1512 HAL_PIXEL_FORMAT_BLOB
2592 x 1944 HAL_PIXEL_FORMAT_YCbCr_420_888
2592 x 1944 HAL_PIXEL_FORMAT_BLOB
2048 x 1536 HAL_PIXEL_FORMAT_YCbCr_420_888
2048 x 1536 HAL_PIXEL_FORMAT_BLOB
1920 x 1440 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1440 HAL_PIXEL_FORMAT_BLOB
1928 x 1208 HAL_PIXEL_FORMAT_YCbCr_420_888
1928 x 1208 HAL_PIXEL_FORMAT_BLOB
1920 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1920 x 1080 HAL_PIXEL_FORMAT_BLOB
1600 x 1200 HAL_PIXEL_FORMAT_YCbCr_420_888
1600 x 1200 HAL_PIXEL_FORMAT_BLOB
1440 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1440 x 1080 HAL_PIXEL_FORMAT_BLOB
1280 x 960 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 960 HAL_PIXEL_FORMAT_BLOB
1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 800 HAL_PIXEL_FORMAT_BLOB
1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 768 HAL_PIXEL_FORMAT_BLOB
1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 720 HAL_PIXEL_FORMAT_BLOB
1080 x 1080 HAL_PIXEL_FORMAT_YCbCr_420_888
1080 x 1080 HAL_PIXEL_FORMAT_BLOB
1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 738 HAL_PIXEL_FORMAT_BLOB
1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 768 HAL_PIXEL_FORMAT_BLOB
864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
864 x 480 HAL_PIXEL_FORMAT_BLOB
800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 600 HAL_PIXEL_FORMAT_BLOB
800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 480 HAL_PIXEL_FORMAT_BLOB
720 x 1280 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 1280 HAL_PIXEL_FORMAT_BLOB
720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 512 HAL_PIXEL_FORMAT_BLOB
640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 400 HAL_PIXEL_FORMAT_BLOB
640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 360 HAL_PIXEL_FORMAT_BLOB
352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
352 x 288 HAL_PIXEL_FORMAT_BLOB
320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
320 x 240 HAL_PIXEL_FORMAT_BLOB
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
4056 x 3040 HAL_PIXEL_FORMAT_RAW10
4056 x 3040 HAL_PIXEL_FORMAT_RAW12
4056 x 3040 HAL_PIXEL_FORMAT_RAW16
4056 x 3040 HAL_PIXEL_FORMAT_RAW_OPAQUE
3840 x 2160 HAL_PIXEL_FORMAT_RAW10
3840 x 2160 HAL_PIXEL_FORMAT_RAW12
3840 x 2160 HAL_PIXEL_FORMAT_RAW16
3840 x 2160 HAL_PIXEL_FORMAT_RAW_OPAQUE
1920 x 1080 HAL_PIXEL_FORMAT_RAW10
1920 x 1080 HAL_PIXEL_FORMAT_RAW12
1920 x 1080 HAL_PIXEL_FORMAT_RAW16
1920 x 1080 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 100
max = 35200

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
2200

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 243753000ns

====================================
Stats for camera: 2

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
240 x 1629

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
240 x 1629 HAL_PIXEL_FORMAT_RAW10
240 x 1629 HAL_PIXEL_FORMAT_RAW12
240 x 1629 HAL_PIXEL_FORMAT_RAW16
240 x 1629 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 54
max = 0

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
0

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 0ns

====================================
Stats for camera: 3

ANDROID_SCALER_AVAILABLE_RAW_SIZES:
These are likely supported by the sensor
1280 x 800
1280 x 800

ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
These are NOT necessarily supported by the sensor
1280 x 800 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 800 HAL_PIXEL_FORMAT_BLOB
1280 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 768 HAL_PIXEL_FORMAT_BLOB
1280 x 720 HAL_PIXEL_FORMAT_YCbCr_420_888
1280 x 720 HAL_PIXEL_FORMAT_BLOB
1024 x 738 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 738 HAL_PIXEL_FORMAT_BLOB
1024 x 768 HAL_PIXEL_FORMAT_YCbCr_420_888
1024 x 768 HAL_PIXEL_FORMAT_BLOB
864 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
864 x 480 HAL_PIXEL_FORMAT_BLOB
800 x 600 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 600 HAL_PIXEL_FORMAT_BLOB
800 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
800 x 480 HAL_PIXEL_FORMAT_BLOB
720 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
720 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 512 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 512 HAL_PIXEL_FORMAT_BLOB
640 x 480 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 480 HAL_PIXEL_FORMAT_BLOB
640 x 400 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 400 HAL_PIXEL_FORMAT_BLOB
640 x 360 HAL_PIXEL_FORMAT_YCbCr_420_888
640 x 360 HAL_PIXEL_FORMAT_BLOB
352 x 288 HAL_PIXEL_FORMAT_YCbCr_420_888
352 x 288 HAL_PIXEL_FORMAT_BLOB
320 x 240 HAL_PIXEL_FORMAT_YCbCr_420_888
320 x 240 HAL_PIXEL_FORMAT_BLOB
240 x 320 HAL_PIXEL_FORMAT_YCbCr_420_888
240 x 320 HAL_PIXEL_FORMAT_BLOB
176 x 144 HAL_PIXEL_FORMAT_YCbCr_420_888
176 x 144 HAL_PIXEL_FORMAT_BLOB
1280 x 800 HAL_PIXEL_FORMAT_RAW10
1280 x 800 HAL_PIXEL_FORMAT_RAW12
1280 x 800 HAL_PIXEL_FORMAT_RAW16
1280 x 800 HAL_PIXEL_FORMAT_RAW_OPAQUE

ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
min = 54
max = 1596

ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
1596

ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
min = 0ns
max = 1318629735ns

====================================
Number of cameras detected: 4

@constantines @Eric-Katzfey @Alex-Kushleyev voxl-esc is reporting the correct voltage. It looks like changing the QGC version has fixed the issue.

Thanks for your inputs.
George

@Alex-Kushleyev Sorry for the delay.

The voltage value seems to have decreased a little with time, but I don't think this is following the battery discharge trend. I started at 270.31 V just before take-off, and I was at 269.24 V after roughly 15 mins of flying. What could be the next steps to troubleshooting this issue?

Thanks,
George

@teddy-zaremba

3. Screenshots are attached below. On the voxl portal, I'm able to see the tracking_down and tracking_front feeds, but I don't see the tracking_rear option (my Starling2 is in C27 config: 1 hires camera, 1 tof sensor, 3 tracking cameras). I haven't changed anything related to the default camera setup, except adding a Lepton 3.5 sensor. I was hoping to use the voxl-qvio-server, but I'm happy to explore openvins if that's more feasible. I don't see a red box, but I'm able to see the axes on the voxl mapper page, and its moving when I move the UAV.
   

4. How can I access the voxl_mapper_aligned_ptcloud?

Thanks,
George

@teddy-zaremba thanks for your response.

1. By default, are the stereo cameras being used? Or is it the tof sensor?

2. To clarify, if we try to visualize voa_pc_out on rviz2, I would not be able to see the UAV movement. I would need to use a topic that already fuses imu_apps data with tof_pc data or create such a custom topic. Is my understanding correct?

3. I'd be happy to try it. I've opened the voxl mapper page on the voxl portal and voxl-dfs-server is enabled, but I'm unable to start it with systemctl start voxl-dfs-server. I'm also unable to see /voxl_mapper_aligned_ptcloud under ros2 topic list (I don't think it's being published). How can we address these?

4. What's the best way to get the created map from voxl mapper as a ROS2 foxy interface?

Thanks,
George

@Hector-Gutierrez thanks for the suggestion. However, I have now seen this unstable behavior in all modes (manual, altitude, position and offboard), both indoor and outdoors. I suspect that qvio is failing and trying to reset mid flight (Error: Not stationary was observed multiple times on the qvio_overlay page on VOXL portal). I don't think the GPS is even being used (QGC reports 100 HDOP and 0 satellites). The only mode where the UAV is controllable is Manual, but the qvio error is still present.

@Alex-Kushleyev would you be able to share some insight into what could be happening? How can we resolve this issue?

Thanks,
George

Hello,

I wanted to use ROS2 Foxy to run SLAM and create a map of an indoor environment on RViz2. Initially, I tried using /tof_pc to get point cloud data, but it seems this topic doesn’t account for the UAV’s position and orientation (Starling 2). As a result, the point cloud data kept appending to itself incorrectly, and I couldn’t generate a usable map.

Could you clarify:

1. What sensors are fused or used in /voa_pc_out?
2. Does /voa_pc_out compensate for UAV movement, and is this topic alone sufficient for mapping an area?
3. What topic combinations would you recommend for:
   i) LiDAR SLAM
   ii) Visual SLAM

For example:
a) imu_apps + tof_pc
b) voa_pc_out
c) tracking cameras + imu_apps
d) any other combination

Thanks,
George

@Aaron-Porter thanks for checking in. I'm able to see all the camera related ros2 topics now on the UAV and the laptop terminals.

Cheers,
George

@Alex-Kushleyev apart from the lepton sensor, I have 5 (1 hires, 1 tof and 3 tracking).

Can you please point me to the resource that explains how to update the libmodal-journal package? Would I need to reinstall ROS2 Foxy or anything else?

Thanks,
George

@Alex-Kushleyev
existing instance of voxl-camera-server found, attempting to stop it
Number of cameras detected: 4

On the voxl portal system check, it returned false for tracking_rear (VOXL-Camera-Server) and error for imageSensor2 (VOXL Image Sensors).

@Alex-Kushleyev I did a power cycle on the lepton sensor and it seems to be working now (click sound and feed available). All cameras except the rear tracking camera seems to be working fine (screenshot attached below). It doesn't show up on the voxl portal. How can we resolve this?

@Alex-Kushleyev I tried using the Lepton 3.5 sensor again, but this time I was unable to see the feed on the voxl portal, although voxl-lepton-server and voxl-camera-services were running. Additionally, I couldn't hear the clicking sound from the lepton sensor that was previously present. What could be the issue here? Is there anything I'm missing?

I also noticed that the rear tracking camera wasn't functional (I'm not sure if this is related to the functioning of the lepton camera). It was seen on the voxl system check page on the voxl portal.

Hi,

I'm seeing incorrect battery0 voltage on QGC. Would appreciate your help in resolving this issue.

I'm using the 2S Amprius battery packs on my Starling 2 and the battery parameters are attached below.

Thanks!

@Hector-Gutierrez have you seen this is any other mode? I observed something similar in position mode, but no additional sensor calibration was done. I was manually trying to descend, but the Starling2 kept climbing. At first I thought it was pilot error (likely due to the spring loaded throttle stick), but later it became clear that the climb was not commanded. @Moderator

@Aaron-Porter right, thank you!

@Alex-Kushleyev thanks, this seems to be working well. Can you also share what voxl-lepton-tracker is used for?

George

@george-kollamkulam

Just noticed something with point #2.

ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node stops the voxl-camera-server, and we stop seeing some of the interfaces from which we want to access data (tof_pc, tof_depth, hires_small_encoded etc.)

Could this be the reason why we're only able to echo only /imu_apps (which I assume is completely unrelated to the voxl-camera-server)?

Hi,

We're trying to read data from our Starling 2 UAV (VOXL2 autopilot) using ROS2 Foxy and wanted some help troubleshooting:

Setup:
We used the following commands for installation on the UAV.
apt-get install voxl-ros2-foxy
apt install -y voxl-mpa-to-ros2
Voxl-configure-mpa-to-ros2
source /opt/ros/foxy/setup.bash (inside voxl-mpa-to-ros2)-> source install/setup.bash
ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node
ros2 topic list

On the GCS, we just used apt-get install voxl-ros2-foxy.
The UAV was in softap mode and the GCS was connected to the VOXL WiFi network.

We could see the topic list when we ssh into the UAV from our GCS, but we had a couple of issues:

1. The topic list keeps changing when we run these commands. Sometimes we see tof_pc, tof_depth but sometimes we do not.

2. We were only able to echo /imu_apps from the GCS. We could not access the mpa sensor data and we don't get any output (no message structure, no info) when we try to echo any /hires, /tof, /tracking or any other type of interface in the voxl_mpa_to_ros2_node.

3. We tried using rviz2 to stream the camera and point cloud data (selected different topics like tof_pc, hires_small_encoded etc), but it didn't produce any output.

Is there a way to ensure that the sensor data is getting published?

Thanks

Hi,

1. Is it possible to upgrade the Ubuntu version to 22.04 on the VOXL2 autopilot? This is to use ROS2 Humble without a docker.

2. Currently to run ROS2 Humble on the existing Ubuntu 18.04 setup, we installed a docker but we're a repeatable issue.The colcon build --symlink-install keeps failing (screenshot attached below). How can we resolve this?
   

We've also seen a few instances of location conflicts during the installation of ROS2 humble, but have tried to resolve that as and when we see them.

Thanks,
George

Hi,

Where is the sensor data stored on the Starling 2 UAV? I wanted to access the TOF point clouds, camera and other sensor data and pass it to another system real-time. What would be the best way to achieve this?

I saw an option to 'Save Map' on the VOXL web portal, but I'm not sure where it gets saved.

Thanks!