This is a known bug that was fixed in voxl-vision-px4 v0.8.8 which is currently on the development repo, scheduled to be merged into the stable repo in a week or so.
The bug is not caused by PX4, it was due the the handling of the specific mavlink packet containing console data. It should behave normally when not using the PX4 console.
Hi Zach,
I just updated libmodal_pipe to 2.0.8 with a fix to cleanup the trailing characters from echoing a pipe name to the request pipe. Now you can run modal-hello-server in one window and see the output in another:
yocto:/run/mpa/hello$ echo "test" > request && cat test
hello160hello161hello162hello163hello164hello165hello166
Let me know if this is along the right path. I have no immediate intention for making a python library.
Best,
James
Do you have a GPS/Mag plugged in? If not please try plugging in a GPS/Mag and set the PX4 parameter SYS_HAS_MAG to 1. There is a PX4 bug that prevents VIO-only operation if a magnetometer is missing, even if the magnetometer is not in use.
We've been trying to get the bugfix approved and merged into PX4 master for over a year now but it seems to be a lost cause. For now our own branch of PX4 has the bugfix along with some custom tools for our ESCs. If your system starts working again with the magnetometer then we know somehow a standard PX4 image got onto your flight core instead of one of our own.
Regards,
James
This is a known bug that was fixed in voxl-vision-px4 v0.8.8 which is currently on the development repo, scheduled to be merged into the stable repo in a week or so.
The bug is not caused by PX4, it was due the the handling of the specific mavlink packet containing console data. It should behave normally when not using the PX4 console.
I'm afraid to say the VOA feature has not yet been ported forward to our new software architecture (voxl-suite v0.3.4), but it still works in the legacy software (voxl-suite 0.2.0). We are a few weeks away from finishing the new version of VOA and adding it back in, at which point we will release another voxl-suite version. Until then you can go back to voxl-suite 0.2.0, sorry for the inconvenience! We are in a bit of a transition period as we rewrite all of our legacy software in the new architecture.
Best Regards,
James
Hello Dean,
Starting with voxl-suite 0.3.4 (what you have installed) voxl_cam_ros is deprecated due to annoyances like this.
Please try its replacement node voxl_mpa_to_ros. This will publish all cameras, IMU, and some other data to ROS all with one node!
yocto:/# roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch
in another window:
yocto:/# rostopic list
/hires/image_raw
/imu0
/imu1
/qvio/odometry
/qvio/pose
/qvio_overlay/image_raw
/rosout
/rosout_agg
/stereo/left/image_raw
/stereo/right/image_raw
/tracking/image_raw
/parameter_descriptions
/tracking/image_raw/compressedDepth/parameter_updates
Don't worry, it won't actually publish data until something subscribes to the topic so it's not wasting CPU having all those topics advertised.
Best Regards,
James
Hello, When you ran the wizard, what did you enter for the camera configuration question, it should have been option 3 (hires+stereo+tracking) for a flight deck.
Do you mind running voxl-vision-px4 manually in odometry debug mode to see if VIO is working and share the output? You can use this command:
voxl-vision-px4 --debug_odometry
Thanks!
Does this behavior only occur in PX4 position mode? Does it fly in PX4 manual mode?
Hello,
The M500 should have been sent to you all configured and working. Do you mind stopping the voxl-vision-px4 service and running voxl-test-vision-lib to see if VIO is working? You can use the following commands:
systemctl stop voxl-vision-px4
voxl-test-vision-lib -o
Hi Rapit,
You don't need the secondary qgc_ip, just one udp link from VOXL to MAVROS. In this case you would use MAVROS as another link in the chain between VOXL and QGC.
VOXL <--> MAVROS <--> QGC
Try launching mavros with the fcu_url :
fcu_url:=udp://VOXL_IP:14550@:14550
and gcs_url:
gcs_url:=udp://@127.0.0.1
You may need to change the port to QGC to something else (like 14551) to avoid a conflict.
Best,
James
Hello!
We can't use the original docker service file on voxl as a few extra steps are required for docker to run on our platform. Both the installation of the voxl-docker-support package and execution of voxl-configure-docker-support.sh try to stop and disable docker.service as it gets in the way.
Instead it is replaced by our own service files which should be enabled by the voxl-configure-docker.sh script. What is the output you see when you run this script?
Best,
James