Hi,

I installed ROS2-Foxy on the VOXl2, and am wondering where this package is

https://docs.modalai.com/ros2-installation-voxl2/

They mentioned a

MPA-TO-ROS2

Once the installation of ros2 has been done, the user can then install voxl-mpa-to-ros2 - which is a ros2 node that will convert the following from MPA to ROS2 messages:

Do you guys have a link for me to clone the repository.

Thanks,

Jeff

Hi Quick question for the Voxl2 Mapper is there a way to get occupancy or TSDF/ESDF into ROS/ROS2 topic publishing?

Also if I want to run the voxl2_mapper with the voxl-dfs-server and no time of flight? How can I check the pipes or what is the output pipe of the voxl-dfs-server?

"depth_pipe_1":	"/run/mpa/stereo_front_pc",
"depth_pipe_1_enable":	false,
"extrinsics1_name":	"stereo_front_l",
"depth1_rate":	10,
"depth_pipe_2":	"/run/mpa/stereo_rear_pc",
"depth_pipe_2_enable":	false,
"extrinsics2_name":	"stereo_rear_l",
"depth2_rate":	10,
"depth_pipe_3":	"/run/mpa/dfs_point_cloud",

Re: Using Sentinel Drone with IntelRealSense Depth Camera D435

So this isn't a problem. I have seen on the forum some talk on using the D435i with the Voxl2 through the USB connection and can confidently say we succeeeded, so we are linking the Github method to get it working. This was with SDK 1.1.1. We also used the USBA port into a USB hub bought of the shelf to connect both wifi and D435i into the hub in case anyone wants to try using the D435i our their voxl2.

For our stereo application we found the D435i gave signficantly bettere stereo depth images than the native stereo-dfs-server, but it is up to you guys which one you prefer.

https://github.com/IntelRealSense/librealsense/issues/12442#issuecomment-2192775535

At the end of this you should be able to use ros2 run rqt_image_view rqt_image_view in order to see the output after running the ros2 realsense camera node

@Suvasis-Mukherjee

We have succesfully integrated the D435i to stream video recently with the Voxl2 through ROS2. however this process is a bit involved with a few twists and turns, so it is possible

@Eric-Katzfey thanks for the quick response. Yeah personall we ended up mounting the GPS further up with a pole in a custom design. Do you guys have a link to the px4 parameters you use with the barometer onboard the Voxl2 or does it need some sort of calibration?

Hi Modalai,

Recently we tried flying with the native barometer/recommended 3DR GPS on the website and found the performance was quite bad comapred to other products

https://www.modalai.com/products/m10000640

Do you have any suggestions on how to improve them or an alternative product to do no Vision based height estimation

@Alex-Kushleyev hi Alex thank you so much for the help. We figured it out after updating some of the firmware. It flies much smoother with the jeti RC now

Oh glad to hear something from your end.

Currently we are using VoxlESC and the Px4 from SDK 1.1.1. Recently I flashed the board but the remote control is no longer detected. Also how do we set the parameter of the voxl2_io_func8 is this in the start up /usr/bin/voxl-px4-start?

Thanks again for the help,

Jeff

@Alex-Kushleyev We have the current thing

Attempting to start M0065 SBUS RC driver for original M0065 FW
INFO [muorb] SLPI: qshell gotten: dsp_sbus start
INFO [muorb] SLPI: arg0 = 'dsp_sbus'
INFO [muorb] SLPI: arg1 = 'start'
INFO [qshell] Send cmd: 'dsp_sbus start'
ERROR [muorb] SLPI: Failed to execute command: dsp_sbus start
Starting M0065 SBUS RC driver for original M0065 FW failed
Attempting to start M0065 SBUS RC driver for new M0065 FW
INFO [qshell] Send cmd: 'voxl2_io start -d -p 7'
INFO [muorb] SLPI: Ok executing command: voxl2_io start -d -p 7

We will try updating the firmware and let you know how ti goes based on what you say

@Alex-Kushleyev Quick question how do we check the M0065 Version?

Also have you guys tried Futaba remotes are they OK? Just wondering since they are on the list of RC with Graupner, but it seems Graupner's remotes are sold out everywhere
https://docs.modalai.com/voxl2-rc-configs/

Hi Modalai,

Recently we connected a Jeti receiver to our voxl2 board using Sbus through the voxlio board with the px4 running on the voxl2 and ESC connected to the main Voxl2 board

We noticed there is a significant lag between the remote’s command and the reaction from the Voxl2. The throttle/pitch/roll/arm/killswitch on our remote lags behind the real action. This problem does NOT exist if we directly plug the spectrum receicer to our voxl2 board, so this is NOT a control parameter issues

We were wondering if you noticed this issue when using other remotes like Graupner sbus to the voxl2 board?

Thanks,

Jeff

@Moderator Right I think that is a bit too difficult.

I just edited the voxl-mapper library to send the pointcloud and it works now to get the map in ROS2 with the mpa_ros2 interface. It is a bit weird that you guys have this esdf publish pipe as a pointcloud but it doesn't seem exposed naturally

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/blob/master/server/voxl-mapper/voxl_mapper.cc?ref_type=heads

void TsdfServer::publishEsdfPointcloud(){
    std::vector<point_xyz_i> esdf_ptcloud;

    voxblox::Layer<voxblox::EsdfVoxel> *layer_ptr = esdf_map_->getEsdfLayerPtr();
    createDistancePointcloudFromEsdfLayer(*layer_ptr, esdf_ptcloud);

    // intensity ptcloud for distance
    point_cloud_metadata_t esdf_meta;
    esdf_meta.magic_number = POINT_CLOUD_MAGIC_NUMBER;
    esdf_meta.timestamp_ns = rc_nanos_monotonic_time();
    esdf_meta.n_points = esdf_ptcloud.size();
    esdf_meta.format = POINT_CLOUD_FORMAT_FLOAT_XYZC;

    pipe_server_write_point_cloud(COSTMAP_CH, esdf_meta, esdf_ptcloud.data());
}