Topics created by george kollamkulam

@george-kollamkulam , i am assuming the drone is already set up with the correct camera config (you can also re-do it using voxl-configure-cameras and select 27. If your drone was incorrectly set up in C28 configuration, you would see the same error.

One way to check this before re-running voxl-configure-cameras is to list contents of /usr/lib/camera and see which sensormodule files are in there. For C27, you should see three AR0144 sensormodules (for slots 0, 2, 6), one IMX412 sensormodule for slot 1 and another one for the TOF in slot 3. From debug info when running voxl-camera-server -l, the three types of cameras have different sensor ID, as follows:

AR0144: 0x0356
IMX412: 0x0577
TOF : 0x2975

Assuming that step above will result in the same issue (AR0144 camera (sensor ID 0x0356) not detected in camera slot 2), then i think you need to inspect the M0173 board and specifically the connection of the camera in port J5 of M0173. Make sure the ucoax cable is plugged in properly, similarly like others. Unfortunately that will require some disassembly.

You could also double check first the ucoax connection at the camera itself if that is easier to access. If you have a spare AR0144 camera, you could try to disconnect the camera cable from the non-functioning camera and connect the spare AR0144 to see if the camera is the issue or the cable (or downstream connections).

Hopefully it is just a software mis-configuration, but please inspect the cables as suggested.

Alex

Hi @Roya-Salehzadeh,

Yep, the points showing up in voxl_mapper_aligned_ptcloud are static (ie. not tied to the vehicle's current pose)

I've never tried to do that so I'm not 100% sure but recording the points with a ros2 bag seems like a reasonable approach

3a. I'm not sure why you would need to do any transformation to plot the data on RViz. Voxl-mapper already does transformations to put the data in a static frame of reference. If you're only seeing it as a live stream this is probably because it's playing one message one after the other. I'm not sure but there might be a setting in RViz to ignore the timestamps or you could potentially do something like set all the timestamps to 1.

3b. Voxl-mapper uses the tof data to generate the map. What are you trying to do by visualizing the tof data?

3c. For visualizing the path I'm not sure if you would need to do transformations or not. This is the line that digests the pose data in voxl-portal. After a little investigating it seems like the /world might be the correct frame_id.

If it were me, I'd start by getting the accumulated map on RViz then plot the odometry inside that map with the /world frame_id and then check if you need to do any additional transformations.

@brahim what're your thoughts on the RViz frame_id for odometry?

Let me know if that helps,
Ted

@Eric-Katzfey The update has been pulled into our fork now. You can access the updated package here: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.106-202507311432_arm64.deb

@george-kollamkulam Great just wanted to make sure there wasn't any other issue.

@george-kollamkulam Here's voxl-logger https://docs.modalai.com/voxl-logger/ which you can use to record data. if you need to access the data real-time, that's a good source code starting point for how to capture the data into your application

@george-kollamkulam

Where are you getting the image / ROS2 packages? Is this an image that ModalAI maintains?

Just looking at the error, it seems like it can't find the yaml-cpp package. It could be that it's not installed correctly or something's wrong in your CMakeLists.txt. It looks like the yaml-cpp readme has some info for including it in your CMake project.

If you're using camera_calibration_parsers from image common, it might be worth bringing the issue up there.

Let me know if that helps,
Ted

@Alex-Kushleyev would you be able to help troubleshoot this error with the rear tracking camera?

@george-kollamkulam That port is internally connected to the 5V coming from the main VOXL2 power (which is technically 5V 6A). Obviously you would be limited by the connector pins, which are rated around 1A max continuous. Also, drawing too much from this pin, can bring down the whole VOXL2 (if that 5V output on J19 is shorted to GND, for example).