Topics created by Jeffrey Mao

@Jeffrey-Mao Thank you for providing the update and the instructions!

HI @Jeffrey-Mao
Another consideration for baro is active airflow. We typically provide a "cap" on our baros in our drones or flight-decks to ensure it is not exposed to sunlight (as Eric stated) but also active airflow which can show up like air pressure noise.
Our 3D models repository has a 3D file of this cap, in this case for FlightCore to give you an example:
https://storage.googleapis.com/modalai_public/modal_drawings/Flight_Core_Barometer_Cap.STEP
Hope this helps.

@Alex-Kushleyev The fix is available in this build: http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-px4_1.14.0-2.0.77-202406051703_arm64.deb

@Jeffrey-Mao Hello Jeffery, We are currently working on implementing SLAM for the Starling 2 platform. Our initial approach involved using the available ROS 2 topics provided by voxl_mpa_to_ros2, installing standard SLAM packages, and using RViz for visualization. However, we've encountered a major issue: most of the topics do not have a frame_id defined, and there is no existing transform (TF) tree that can be used with RViz.

So far, we've only been able to visualize the tof_pc (Time-of-Flight point cloud) data. To do this, we had to manually publish a static transform between the TOF frame (which is named world) and map. However, in this setup, the drone's location does not update dynamically. To address this, we're considering writing a transformation node to define the relationships between coordinate frames (e.g., map, odom, base_link, tof, etc.). However, developing this from scratch is proving to be time-consuming and error-prone.

I also noticed that you were able to generate a map using voxl-mapper and et the map in ROS2 with the mpa_ros2 interface. This could be a much more efficient path for us to pursue. Could you please explain in detail:

What exact steps you followed to export the map using voxl-mapper?

Is it possible to regenerate or update the map in real-time in RViz, or export it to another visualization tool?

Thanks

Nevermind I figured it out. Once the voxl_mapper service is running it is automatically configured to run the voxl_mpa_ros2 as a pointcloud

@Jeffrey-Mao , no worries, thanks for the update!

@Alex-Kushleyev

Thanks for the information. I think I understand what is going on my end then.

@Jeffrey-Mao Assuming you are intending to use it with PX4 running on VOXL 2 you would need to set GPS to AUTODETECT in the /etc/modalai/voxl-px4.conf configuration file.

@Jeffrey-Mao

I am assuming you are asking about VOXL2 with ov7251 stereo in combo mode (using a single 4-lane camera port)

Please check in /usr/lib/camera, you should see two com.qti.sensormodule.ov7251_combo* files. you should remove them and replace them with ones from /usr/share/modalai/chi-cdk/ov7251-combo-flip, making sure you copy the files with the same camera slot index (the number at the end before .bin). Then simply restart voxl-camera-server and the cameras should be rotated 180 (this happens by reversing the direction the images are read from the camera itself, not rotated in software)

Thanks it works like a charm now for the help

For a final wrap-up, we installed ROS2 Humble from Source on Voxl2 this fixed the communication issues.

We also noticed in Foxy if we we had the following set up on the same device

Publisher A -> (TOPIC A) Subscriber A (Which Publishes Topic B )

Topic A publishes 500Hz
Topic B publishes at 400Hz ish

In Humble,

Topic A publishes 500Hz
Topic B publishes at 500Hz

Also, if you are using very old SDK on VOXL2, the uart bridge may not be working 100% properly.

When in doubt, the best thing to do is to connect to the ESC using a serial to usb adapter going directly to a Linux PC (and run voxl-esc tools on the PC). do you have that available?