ModalAI Forum

Here is the log:

-- Logs begin at Thu 1970-01-01 00:01:35 UTC, end at Thu 1970-01-01 00:03:25 UT
C. --
Jan 01 00:01:37 apq8096 systemd[1]: Started voxl-vision-px4.
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: ERROR validating VIO data receiv
ed through pipe: read partial packet
Jan 01 00:01:38 apq8096 voxl-vision-px4[2018]: read 156 bytes, but it should be
 a multiple of 324

Hello,

I'm trying to push the VVPX4 package into VOXL without any changes but as soon I reboot the device the VIO pipeline seems to be closed as I get a '0' for both x and y coordinates of the local position. However, all the services are enabled and working (camera, qvio and vision). I have updated the voxl-suite to 0.8.1 but the positioning worked fine after that. It's when I pushed the VVPX4 package that the vio pipeline stops transferring data.

/ # voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  |   Running   |     5.9
 voxl-cpu-monitor     |  Enabled  |   Running   |     0.0
 voxl-dfs-server      | Disabled  | Not Running |  
 voxl-imu-server      |  Enabled  |   Running   |     1.9
 voxl-mavlink-server  |  Enabled  |   Running   |     1.9
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-qvio-server     |  Enabled  |   Running   |     7.9
 voxl-streamer        | Disabled  | Not Running |  
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      |  Enabled  |   Running   |     1.9
 voxl-wait-for-fs     |  Enabled  |  Completed  |  

Here is the voxl-vision-px4 config file:

{
	"imu_name":	"imu0",
	"cam_name":	"tracking",
	"odr_hz":	30,
	"use_camera_height_bootstrap":	true,
	"camera_height_off_ground_m":	0.085000000894069672,
	"enable_init_while_moving":	true,
	"cam_imu_timeshift_s":	-0.0020000000949949026,
	"cam_imu_timeshift_s_uncertainty":	0.0010000000474974513,
	"T_cam_wrt_imu_uncertainty":	[0.00050000002374872565, 0.00050000002374872565, 0.00050000002374872565],
	"R_cam_to_imu_uncertainty":	[0.00499999988824129, 0.00499999988824129, 0.00499999988824129],
	"accl_fsr_ms2":	156,
	"gyro_fsr_rad":	34,
	"accl_noise_std_dev":	0.31600001454353333,
	"gyro_noise_std_dev":	0.00999999977648258,
	"cam_noise_std_dev":	100,
	"min_std_pixel_noise":	0.5,
	"fail_high_pixel_noise_points":	1.6650999784469604,
	"limited_imu_bw_trigger":	35,
	"gps_imu_time_alignment_s":	0,
	"T_gps_wrt_imu":	[-0.11500000208616257, 0.449999988079071, 0.10000000149011612],
	"enable_mapping":	true,
	"enable_gps_vel":	false
}

Hi,

In the VVPX4 configuration file there is an option of choosing the pipe

"vio_pipe":	"qvio"

What other pipes can the vio subscribe to, other than the qvio? Is it possible for it to subscribe to a ROS node?

@Alex-Gardner Got it. Thank you!

Thank you @modaltb.

I'm having trouble deploying VVPX4 to to VOXL. The dependencies not being satisfied are being installed so I'm not sure what to do.

Here is what I'm doing:

voxl-cross:~$ ./install_build_deps.sh apq8096 staging 
using apq8096 staging repo
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//Packages.gz.
Updated source 'staging'.
installing: 
libmodal-json
libmodal-pipe
librc-math
libmodal-cv
voxl-mpa-tools
voxl-mavlink
Installing libmodal-json (0.4.2) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//libmodal-json_0.4.2.ipk.
Configuring libmodal-json.
Installing libmodal-pipe (2.4.0) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//libmodal-pipe_2.4.0.ipk.
Configuring libmodal-pipe.
Installing librc-math (1.1.8) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//librc-math_1.1.8.ipk.
Configuring librc-math.
Installing libmodal-cv (0.1.0) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//libmodal-cv_0.1.0.ipk.
Configuring libmodal-cv.
Installing voxl-mpa-tools (0.7.2) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//voxl-mpa-tools_0.7.2.ipk.
Configuring voxl-mpa-tools.
Installing voxl-mavlink (0.1.0) on root.
Downloading http://voxl-packages.modalai.com/dists/apq8096/staging/binary-arm64//voxl-mavlink_0.1.0.ipk.
Configuring voxl-mavlink.

Done installing dependencies

voxl-cross:~$ ./build.sh apq8096 
-- The C compiler identification is GNU 4.9.3
-- The CXX compiler identification is GNU 4.9.3
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Building for platform APQ8096
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build64
[  3%] Building C object utils/CMakeFiles/voxl-px4-shell.dir/voxl-px4-shell.c.o
[ 11%] Building C object src/CMakeFiles/voxl-vision-px4.dir/geometry.c.o
[ 11%] Building C object src/CMakeFiles/voxl-vision-px4.dir/config_file.c.o
[ 15%] Building C object src/CMakeFiles/voxl-vision-px4.dir/control_input.c.o
[ 23%] Building C object utils/CMakeFiles/voxl-calibrate-px4-horizon.dir/voxl-calibrate-px4-horizon.c.o
[ 26%] Building C object src/CMakeFiles/voxl-vision-px4.dir/fixed_pose_input.c.o
[ 23%] Building C object src/CMakeFiles/voxl-vision-px4.dir/horizon_cal.c.o
[ 30%] Building C object src/CMakeFiles/voxl-vision-px4.dir/main.c.o
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/config_file.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
In file included from /home/root/utils/voxl-px4-shell.c:39:0:
/usr/aarch64-linux-gnu-2.23/include/string.h:649:1: warning: no previous declaration for '__mempcpy_inline' [-Wmissing-declarations]
 __mempcpy_inline (void *__restrict __dest,
 ^
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/utils/voxl-calibrate-px4-horizon.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/main.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 34%] Linking C executable voxl-calibrate-px4-horizon
[ 38%] Linking C executable voxl-px4-shell
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/geometry.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 38%] Built target voxl-calibrate-px4-horizon
[ 42%] Building C object src/CMakeFiles/voxl-vision-px4.dir/misc.c.o
[ 42%] Built target voxl-px4-shell
[ 46%] Building C object src/CMakeFiles/voxl-vision-px4.dir/obs_pc_filter.c.o
[ 50%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_figure_eight.c.o
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/obs_pc_filter.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 53%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_follow_tag.c.o
[ 57%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_mode.c.o
[ 61%] Building C object src/CMakeFiles/voxl-vision-px4.dir/offboard_trajectory.c.o
[ 65%] Building C object src/CMakeFiles/voxl-vision-px4.dir/pose_filter.c.o
[ 69%] Building C object src/CMakeFiles/voxl-vision-px4.dir/px4_mavlink.c.o
[ 73%] Building C object src/CMakeFiles/voxl-vision-px4.dir/px4_monitor.c.o
[ 76%] Building C object src/CMakeFiles/voxl-vision-px4.dir/px4_shell.c.o
[ 80%] Building C object src/CMakeFiles/voxl-vision-px4.dir/tag_manager.c.o
[ 84%] Building C object src/CMakeFiles/voxl-vision-px4.dir/transform_ringbuf.c.o
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/transform_ringbuf.c:19:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 88%] Building C object src/CMakeFiles/voxl-vision-px4.dir/udp_mavlink.c.o
[ 92%] Building C object src/CMakeFiles/voxl-vision-px4.dir/vio_manager.c.o
In file included from /usr/aarch64-linux-gnu-2.23/include/features.h:367:0,
                 from /usr/aarch64-linux-gnu-2.23/include/stdio.h:27,
                 from /home/root/src/udp_mavlink.c:34:
/usr/aarch64-linux-gnu-2.23/include/bits/stdlib.h:64:8: warning: no previous declaration for 'ptsname_r' [-Wmissing-declarations]
 __NTH (ptsname_r (int __fd, char *__buf, size_t __buflen))
        ^
/usr/aarch64-linux-gnu-2.23/include/sys/cdefs.h:57:59: note: in definition of macro '__NTH'
 #  define __NTH(fct) __attribute__ ((__nothrow__ __LEAF)) fct
                                                           ^
[ 96%] Building C object src/CMakeFiles/voxl-vision-px4.dir/voa_manager.c.o
[100%] Linking C executable voxl-vision-px4
[100%] Built target voxl-vision-px4
voxl-cross:~$ ./make_package.sh ipk 
Package Name:  voxl-vision-px4
version Number:  1.2.0
Consolidate compiler generated dependencies of target voxl-vision-px4
[ 84%] Built target voxl-vision-px4
Consolidate compiler generated dependencies of target voxl-px4-shell
[ 92%] Built target voxl-px4-shell
Consolidate compiler generated dependencies of target voxl-calibrate-px4-horizon
[100%] Built target voxl-calibrate-px4-horizon
Install the project...
-- Install configuration: ""
-- Installing: ../pkg/data/usr/bin/voxl-vision-px4
-- Installing: ../pkg/data/usr/include/voxl_vision_px4.h
-- Installing: ../pkg/data/usr/bin/voxl-px4-shell
-- Installing: ../pkg/data/usr/bin/voxl-calibrate-px4-horizon
/home/root
starting building IPK package
ar: creating voxl-vision-px4_1.2.0.ipk
DONE
voxl-cross:~$ logout
voxl-vision-px4-master $./deploy_to_voxl.sh adb
searching for ADB device
checking VOXL for dpkg/opkg
opkg detected
voxl-vision-px4_1.2.0.ipk: 1 file pushed. 8.6 MB/s (105382 bytes in 0.012s)
Reinstalling voxl-vision-px4 (1.2.0) on root.
Configuring voxl-vision-px4.
Collected errors:
 * satisfy_dependencies_for: Cannot satisfy the following dependencies for voxl-vision-px4:
 * 	libmodal-pipe (>= 2.4.0) * 	libmodal-cv (>= 0.1.0) * 
DONE

After this, the package I am trying to deploy isn't on VOXL and the voxl-vision-px4 is enabled but not running.

Any pointers to what I may be missing?

Hi,

I've been trying to deploy VVPX4 and see some dependencies. I am using the VOXL Platform 3.8.0-0.7 and VOXL-Cross-2.1 docker image.

voxl-vision-px4-master $./deploy_to_voxl.sh 
searching for ADB device
checking VOXL for dpkg/opkg
opkg detected
voxl-vision-px4_1.2.0.ipk: 1 file pushed. 3.4 MB/s (105362 bytes in 0.029s)
Reinstalling voxl-vision-px4 (1.2.0) on root.
Configuring voxl-vision-px4.
Collected errors:
 * satisfy_dependencies_for: Cannot satisfy the following dependencies for voxl-vision-px4:
 * 	libmodal-pipe (>= 2.4.0) * 	libmodal-cv (>= 0.1.0) * 
DONE

Maybe I have to build the following in a specific directory but I am not sure which one:

$ mkdir cross-workspace
$ cd cross-workspace
$ voxl-docker -i voxl-cross:V1.9
voxl-cross:~$ git clone https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
voxl-cross:~$ cd libmodal-json/
voxl-cross:~$ ./build.sh qrb5165

Can I install or source these two dependencies separately?

Hi,

I've been trying to deploy VVPX4 and still see some dependencies. I am using the VOXL Platform 3.8.0-0.7 and VOXL-Cross-2.1 docker image.

voxl-vision-px4-master $./deploy_to_voxl.sh 
searching for ADB device
checking VOXL for dpkg/opkg
opkg detected
voxl-vision-px4_1.2.0.ipk: 1 file pushed. 3.4 MB/s (105362 bytes in 0.029s)
Reinstalling voxl-vision-px4 (1.2.0) on root.
Configuring voxl-vision-px4.
Collected errors:
 * satisfy_dependencies_for: Cannot satisfy the following dependencies for voxl-vision-px4:
 * 	libmodal-pipe (>= 2.4.0) * 	libmodal-cv (>= 0.1.0) * 
DONE

Maybe I have to build the following in a specific directory but I am not sure which one:

$ mkdir cross-workspace
$ cd cross-workspace
$ voxl-docker -i voxl-cross:V1.9
voxl-cross:~$ git clone https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-json.git
voxl-cross:~$ cd libmodal-json/
voxl-cross:~$ ./build.sh qrb5165

Can I install or source these two dependencies separately?

@Alex-Gardner Great, thanks!

@Alex-Gardner And factory resetting it

voxl-configure-mpa --factory-reset

shows the following:

Configuring VOXL Vision PX4

wiping old config file
voxl-vision-px4: error while loading shared libraries: libmodalcv.so.1: cannot open shared object file: No such file or directory
enabling  voxl-vision-px4 systemd service
starting  voxl-vision-px4 systemd service
Done configuring voxl-vision-px4

@Alex-Gardner Apparently not the last for me!

So now the package is configured but not installed:

And VOXL does not connect to QGC now. I tried reinstalling the unedited package and get the same message and no connection to QGC.

@Alex-Gardner Right. Thanks a lot!

When deploying to VOXL, I'm getting the following message:

From what I understand the VVPX4 is not overridden by the new VVPX4 package pushed to the VOXL. Do I need to change the VVPX4 version in any of the scripts?

@Alex-Gardner Yes, I did.

@Alex-Gardner Right. Thank you!

I'm trying to build the VVPX4 using the voxl-cross image on my desktop but I'm getting the following errors.

Any pointers to what I might be missing?

@Alex-Gardner Thanks for the clarification!

I'm following the instructions here to install the pre-built voxl-cross image but don't have the required directory.

Can I change the path to '~/bin/${RUN_SCRIPT}' in the script?

@DarkKnightCH I still haven't had any issues with the EKF2 divergence yet. You're getting 0s for your x and y coordinates, which from my understanding indicates that the VIO is disabled. I was able to relay the MoCap data to the drone, using the port configuration on the host computer suggested on the post you linked.

However, now there are two external pose messages being sent to the vehicle_vision_odometry message: from the VIO and the MoCap. So the EKF2 output is not stable. I am currently looking for a way to just have the MoCap data publish to the message. I've tried changing the vio, qvio, and camera service configurations but these end up just disabling the VIO pipeline so the MoCap data doesn't get relayed to the EKF2 as well.

Were you able to somehow just get the MoCap data to publish to the vehicle_vision_odometry?

Hello,

I've got the VOXL m500 and want to edit the voxl-vision-px4 source code to get the MoCap pose message instead of the VIO pose message to the EKF2. However, I am unsure of how to go about it. Should I follow the build instructions given and build voxl-cross first and then use that to build the voxl-vision-px4 package? Will this override the voxl-vision-px4 package that comes as a part of the VOXL software suite? Or is there a way to edit and build the existing source code of the package on the VOXL?

Hello,

I intend on replacing the VIO pose message with the pose message from MoCap. Currently, I am using the mavros node to publish the MoCap pose message to the vehicle_vision_pose message. But as the VIO is also writing to the same message, ODOMETRY alternates between the two messages (one from the VIO and the other from the MoCap).

Is there a way to configure the replacement? From the configurations I have tried, ODOM does only give the MoCap pose message (when MAV_ODOM_LP is set) but then the local_position_ned message gives a 0 as its x and y coordinates, like when the VIO is disabled.

@DarkKnightCH I don't have the mavros_extras package in the roskinetic docker and the normal way of getting the package doesn't work there so I am trying to run the mavros node on the host computer instead.

@DarkKnightCH Thanks for the response.

There are a couple of ways I checked the data relaying:

1. There wasn't a message stream when I echoed the /mavlink/to topic.
2. By setting the MAV_ODOM_LP parameter in QGC, the ODOMETRY message should echo the external pose message, but the pose there wasn't the same as the pose from the mocap. So the ODOMETRY message was giving out the pose from the VIO.

I haven't had any issues with the EKF2 divergence yet. It's probably because my mocap data isn't being relayed yet

@DarkKnightCH I am trying to do the exact same thing but the pose message being remapped to mavros/vision_pose/pose is not being relayed to the flight controller.

Did you run the MAVROS node in the companion computer of the voxl or the host computer? If you ran it in the companion computer, did you use the roskinetic docker image? If you ran it in the host computer, which port did you use to communicate between the fcu and the host computer?

Any help in the regard would be greatly appreciated.