@shlee853

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

Glad you got it working, let me know if you have any more questions. Apriltag relocalization is still a fairly new feature with only me and a few other customers really using it extensively so any feedback is appreciated. Thank you!

Thank you for the very detailed report, that is extremely helpful. You were right to notice the translation did not update when you change the tag size. I found the documentation incorrectly listed the config file in which this parameter exists, it should be set in '/etc/modalai/vio_apriltag_app.xml' instead.

Sorry for the confusion, I've updated the documentation.

https://docs.modalai.com/voxl-vision-px4-apriltag-relocalization/

As a heads up, we will soon have a standalone apriltag detection service which will consolidate the tag-size parameter along with the ids, translations, and rotations into its own config file. This should make the setup process less confusing.

@vaughanje

voxl-configure-cameras doesn't have a hires-only option but option #4 (hires + tracking) should work for you. Any option that sets the HIRES_CAM_ID to 0 which will be it's index if it's the only camera connected. You also need to make sure the "ROS_IP" variable is set correctly in ~/my_ros_env.sh otherwise roscore will fail to start and no nodes will start. That's just a fun feature of ROS that it needs to know its own IP address before starting even when only running nodes locally.

After running voxl-configure-cameras or updating ~/my_ros_env.sh make sure to refresh the new bash environment variables with "exec bash"

The ROS node needs to be run in either master mode if running alone, or slave mode if the rtsp streamer was started first. The ROS node cannot be started before the RTSP stream. The command to launch the hires cam in master mode is:

roslaunch voxl_cam_ros hires.launch
OR
roslaunch voxl_cam_ros hires_color.launch

To run as slave:
roslaunch voxl_cam_ros hires.launch is_cam_master:=false
OR
roslaunch voxl_cam_ros hires_color.launch is_cam_master:=false

Regards,
James