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    2. Jeffrey Mao
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    • Topics 14
    • Posts 35
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    Topics created by Jeffrey Mao

    • Jeffrey MaoJ

      Voxl2 with the Intel Realsense D435i

      Ask your questions right here!
      • • • Jeffrey Mao
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      Eric KatzfeyE

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

    • Jeffrey MaoJ

      Native Barometer and GPS height estimation bad

      PX4 Autonomy Developer Kit
      • • • Jeffrey Mao
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      VinnyV

      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.

    • Jeffrey MaoJ

      Voxlio board Sbus lagging

      VOXL Accessories
      • • • Jeffrey Mao
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      Eric KatzfeyE

      @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 MaoJ

      Send ESDF/TSDF information from voxl-mapper to ROS2

      Modal Pipe Architecture (MPA)
      • • • Jeffrey Mao
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      Roya SalehzadehR

      @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

    • Jeffrey MaoJ

      Voxl-Mapper pipe to ROS2

      Ask your questions right here!
      • • • Jeffrey Mao
      5
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      Jeffrey MaoJ

      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 MaoJ

      Pipe Overflow Error

      Modal Pipe Architecture (MPA)
      • • • Jeffrey Mao
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      Alex KushleyevA

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

    • Jeffrey MaoJ

      Voxl2 Stereo Camera Depth to PC transfromation

      Modal Pipe Architecture (MPA)
      • • • Jeffrey Mao
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      Jeffrey MaoJ

      @Alex-Kushleyev

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

    • Jeffrey MaoJ

      ROS2 Integration with voxl-mapper

      Mapping and Planning
      • • • Jeffrey Mao
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      240
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      No one has replied

    • Jeffrey MaoJ

      GPS documentation

      VOXL Accessories
      • • • Jeffrey Mao
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      Eric KatzfeyE

      @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 MaoJ

      Rotating the Stereo Cameras 180 degrees

      VOXL SDK
      • • • Jeffrey Mao
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      Alex KushleyevA

      @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)

    • Jeffrey MaoJ

      New SDK performance mode

      VOXL SDK
      • • • Jeffrey Mao
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      Jeffrey MaoJ

      Thanks it works like a charm now for the help

    • Jeffrey MaoJ

      ROS2 Communication Issues between Ethernet and FOXY

      ROS
      • • • Jeffrey Mao
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      Jeffrey MaoJ

      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

    • Jeffrey MaoJ

      RPM control

      VOXL SDK
      • • • Jeffrey Mao
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      Alex KushleyevA

      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?

    • Jeffrey MaoJ

      VOXL-MPA-to-ROS2 package avaiability

      VOXL 2
      • • • Jeffrey Mao
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      No one has replied