@Zachary-Lowell-0 well it work now!
I found these lines on another thread of the forum:

sudo apt-get install voxl-ros2-foxy
sudo apt-get install voxl-mpa-to-ros2
voxl-configure-mpa-to-ros2
source /opt/ros/foxy/mpa_to_ros2/install/setup.bash
export ROS_HOME=/opt/foxy
ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node

And everything worked first time ! So please put these line directly on the documentation cause I lost so much time with this install !

@Alex-Kushleyev @wilkinsaf Thanks for your answers! Actually, I've done something similar with docker, but I still have a few problems with the data format that mpa_to_ros sends. To address this, I did the following:

#!/usr/bin/env python
import rospy
import cv2
import numpy as np
from sensor_msgs.msg import Image, CameraInfo
from cv_bridge import CvBridge, CvBridgeError
import yaml

class CamImageConverter:
    def __init__(self):
        self.bridge = CvBridge()
        
        # Subscribers
        rospy.Subscriber("/drone/tof_depth/image_raw", Image, self.depth_callback)
        rospy.Subscriber("/drone/hires/image_raw", Image, self.rgb_callback)
        rospy.Subscriber("/drone/tracking_front/image_raw", Image, self.tracking_callback)
        
        # Publishers
        self.depth_pub = rospy.Publisher("/drone/tof_depth/image", Image, queue_size=1000)
        
        self.rgb_pub = rospy.Publisher("/drone/hires/image", Image, queue_size=1000)
        self.rgb_info_pub = rospy.Publisher("/drone/hires/camera_info", CameraInfo, queue_size=1000)
        self.tracking_pub = rospy.Publisher("/drone/tracking_front/image", Image, queue_size=1000)
        self.tracking_info_pub = rospy.Publisher("/drone/tracking_front/camera_info", CameraInfo, queue_size=1000)

        self.camera_info_msg = self.load_camera_info("/root/ros_ws/src/cam_converter/calibration/ost.yaml")

        rospy.Timer(rospy.Duration(1.0 / 30), self.publish_tracking_info)
        rospy.Timer(rospy.Duration(1.0 / 30), self.publish_rgb_info)

    def load_camera_info(self, filename):
        with open(filename, "r") as file:
            calib_data = yaml.safe_load(file)
            camera_info_msg = CameraInfo()
            camera_info_msg.height = calib_data["image_height"]
            camera_info_msg.width = calib_data["image_width"]
            camera_info_msg.distortion_model = calib_data["distortion_model"]
            camera_info_msg.D = calib_data["distortion_coefficients"]["data"]
            camera_info_msg.K = calib_data["camera_matrix"]["data"]
            camera_info_msg.R = calib_data["rectification_matrix"]["data"]
            camera_info_msg.P = calib_data["projection_matrix"]["data"]
            return camera_info_msg

    def depth_callback(self, msg):
        try:
            # Convertir le message ROS en une image OpenCV
            raw_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="mono8")

            # Normalisation de l'image pour améliorer la qualité
            depth_image = cv2.normalize(raw_image, None, 0, 65535, cv2.NORM_MINMAX).astype(np.uint16)

            # Publier l'image convertie
            converted_msg = self.bridge.cv2_to_imgmsg(depth_image, encoding="16UC1")
            converted_msg.header.frame_id = 'tof_link'
            converted_msg.header.stamp = rospy.Time.now()
            self.depth_pub.publish(converted_msg)

        except CvBridgeError as e:
            rospy.logerr("CvBridge Error: {0}".format(e))

    def rgb_callback(self, msg):
        try:
            # Convertir le message ROS en une image OpenCV
            raw_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")

            # Conversion YUV422 ou NV12 en RGB8
            if msg.encoding == "yuv422":
                rgb_image = cv2.cvtColor(raw_image, cv2.COLOR_YUV2RGB_Y422)
            elif msg.encoding == "nv12":
                yuv_image = np.frombuffer(msg.data, dtype=np.uint8).reshape((msg.height * 3 // 2, msg.width))
                rgb_image = cv2.cvtColor(yuv_image, cv2.COLOR_YUV2RGB_NV12)
            else:
                rospy.logerr("Unsupported encoding: {}".format(msg.encoding))
                return

            # Redimensionner l'image RGB pour qu'elle ait la même taille que l'image ToF (240x180)
            resized_rgb_image = cv2.resize(rgb_image, (180, 240), interpolation=cv2.INTER_LINEAR)

            # Publier l'image convertie et redimensionnée
            converted_msg = self.bridge.cv2_to_imgmsg(resized_rgb_image, encoding="rgb8")
            converted_msg.header.frame_id = 'hires_link'
            converted_msg.header.stamp = rospy.Time.now()
            self.rgb_pub.publish(converted_msg)

        except CvBridgeError as e:
            rospy.logerr("CvBridge Error: {0}".format(e))

    def tracking_callback(self, msg):
        try:
            # Convertir le message ROS en une image OpenCV
            raw_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding="passthrough")

            # Redimensionner l'image RGB pour qu'elle ait la même taille que l'image ToF (240x180)
            resized_image = cv2.resize(raw_image, (180, 240), interpolation=cv2.INTER_LINEAR)

            # Publier l'image convertie et redimensionnée
            converted_msg = self.bridge.cv2_to_imgmsg(resized_image)
            converted_msg.header.frame_id = 'tracking_front_link'
            converted_msg.header.stamp = rospy.Time.now()
            self.tracking_pub.publish(converted_msg)

        except CvBridgeError as e:
            rospy.logerr("CvBridge Error: {0}".format(e))

    def publish_rgb_info(self, event):
        self.camera_info_msg.header.stamp = rospy.Time.now()
        self.camera_info_msg.header.frame_id = 'hires_link'
        self.rgb_info_pub.publish(self.camera_info_msg)

    def publish_tracking_info(self, event):
        camera_info_msg = CameraInfo()
        camera_info_msg.header.frame_id = 'tracking_front_link'
        camera_info_msg.header.stamp = rospy.Time.now()

        camera_info_msg.height = 240
        camera_info_msg.width = 180
        camera_info_msg.distortion_model = 'plumb_bob'
        camera_info_msg.D = [5.0234834483837899e-02, 3.2967878240805777e-02, -1.6468916528340826e-02, 1.8155367951008903e-03]
        camera_info_msg.K = [4.6177826259848081e+02, 0., 6.1505488982380564e+02, 0., 4.6160870283061041e+02, 4.1065345867690684e+02, 0., 0., 1.]
        camera_info_msg.R = [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
        camera_info_msg.P = [4.6177826259848081e+02, 0., 6.1505488982380564e+02, 0., 0., 4.6160870283061041e+02, 4.1065345867690684e+02, 0., 0., 0., 1., 0.]

        self.tracking_info_pub.publish(camera_info_msg)
   
    
def main(): 
    rospy.init_node('cam_image_converter', anonymous=True)
    CamImageConverter()
    rospy.spin()

if __name__ == '__main__':
    main()

I don't know if this is the right way to do it, but it seems to work. Do you have any suggestions for implementing this directly on the Voxl2?

Also, I have a few problems with camera calibrations and the drone model. Do you have any files that contain all the data for the cameras (ToF, tracking, and high-resolution) and a model of the drone that I can use in RViz and Gazebo? This could really help me.

For more context, I'm trying to implement this project for Autonomous SLAM with ROS. Has anyone already used RTAB-Map on this drone? Do you have any advice to solve this problem?

Thank you for your help

@Judoor-0 after that i did an apt autoremove and it deleted almost all my drone... is it possible to get back from it?

here is my voxl-inspect-services

And command like voxl-configure-mpa are not available anymore.

If I flash a new sdk on the starling, does it delete everything that's in /home/root ?

Julien

HI,
I'm trying to upgrade a starlin2 but when I do

apt-update && apt-upgrade

i'm left whith this error and I don't know how to rsolve it :

Preparing to unpack .../wpasupplicant_2%3a2.6-15ubuntu2.8+esm1_arm64.deb ...
Unpacking wpasupplicant (2:2.6-15ubuntu2.8+esm1) over (2:2.6-15ubuntu2.8) ...
dpkg: error processing archive /var/cache/apt/archives/wpasupplicant_2%3a2.6-15ubuntu2.8+esm1_arm64.deb (--unpack):
 trying to overwrite '/lib/systemd/system/wpa_supplicant.service', which is also in package voxl2-wlan 1.0-r0
dpkg-deb: error: paste subprocess was killed by signal (Broken pipe)
Failed to add /run/systemd/ask-password to directory watch: No space left on device
Errors were encountered while processing:
 /var/cache/apt/archives/wpasupplicant_2%3a2.6-15ubuntu2.8+esm1_arm64.deb
E: Sub-process /usr/bin/dpkg returned an error code (1)

Julien

@tom
Here is a picture of my services :


It happened only the other day, multiple time.
But I've tested the drone again today and ram seems good, never going above 3590MB/7671MB.

Maybe one of my code was running in the back, I don't really know. If it happen again i'll tell you. And send you more precise information on what's running

Thanks for your help.

Julien

Hello,
I have the Starling 2 development kit, and during long-term testing, I've noticed that RAM usage increases very quickly (to the point of crashing the drone), even though the drone is on the bench and I’m only connected via SSH without running any external programs. I'm using SDK version 1.3.5. Has this happened before, and how can I clear the RAM to prevent the drone from crashing?

Julien

Setup : Starling 2 , SDK 1.3.5,

@Alex-Kushleyev it was an original screw, I don't know why but when comparing to another it's slightly longer. I'll request an RMA.

Julien

Hi,
I want to test the vio waypoint functionnality, but when starting a mission I get the error : no global position.
How can i give a global position to qgc, knowing i only use VIO.
Julien

@Cliff-Wong Hi,
I'm trying to implement the vio navigation without gps. i'm on sdk 1.3.2 with a starling 2.
When uploading the waypoint to the drone, the global position of the drone isn't reference to the take off point. in fact it doesn't appear at all on the map.
What can I do to fix that ?
Julien

Hi,
I've got a starling 2 with the black motor and today while testing one of the motor started to stop spinning randomly. I checked the wires and everything seems good. I swapped the motor with another functional one on my drone and the same motor didn't worked, so the ESC is good.
So, I swapped the defective motor with another one that i had in stock and put the props on it and this motor didn't work either!
Well, the problem came frome one of the propeller's screw which is slightly longer than usual and come scratching on top of the motor wire and prevent the motor to turn.

So, I need a new motor for my starling.

Julien

@Prabhav-Gupta I didn't use the stereo data because I don't have one on my drone. I used the point cloud returned by the TOF. But I know that with RTAB-Map you can easily use stereo without depth. There are some examples that may help you in the rtabmap_ros website.

@wilkinsaf Does mpa to ros do the same thing? Because I currently use ROS1. And for ROS1, mpa to ros only sends camera images or point cloud, not camera_infos.