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

@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()); }

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?