@teddy-zaremba Thank you
I think Aaron was maybe talking about the depth image that we can get from the tof sensor.
I'll check the aligned point cloud but i don't think he has the confidence data (XYZC)
Julien
Posts made by Judoor 0
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RE: LIO with TOF LiDAR: Seeking Point Intensity & Noise Data from mpa_to_ros
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RE: LIO with TOF LiDAR: Seeking Point Intensity & Noise Data from mpa_to_ros
@Aaron-Porter Hi,
Did you had time to check it out ?
Julien -
RE: LIO with TOF LiDAR: Seeking Point Intensity & Noise Data from mpa_to_ros
@Aaron-Porter Hi Aaron, Yes i'm using the modalAI TOF with a Starling2 MAX. If you can test it, I'll appreciate it ! Thank you!
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LIO with TOF LiDAR: Seeking Point Intensity & Noise Data from mpa_to_ros
Hello everyone,
I'm working on developing a LIO (LiDAR-Inertial Odometry) algorithm and am looking to use TOF (Time-of-Flight) LiDAR data.
When I look at the ROS messages published by mpa_to_ros, I only seem to receive the points positions. I'm wondering if it's possible to also include the intensity value and noise information for each point?
Any insights or suggestions would be greatly appreciated!
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RE: IMU stream rate fixed at 10Hz (PX4)
@Eric-Katzfey I'm using integrated IMU with VOXL2
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IMU stream rate fixed at 10Hz (PX4)
Hello,
I'm using an IMU with PX4 firmware. I attempted to change the stream rate of the IMU data to at least 50Hz, instead of the default 10Hz. However, when I use rosservice /mavros/set_stream_rate or rosservice /mavros/set_message_interval, there is no change.
Could this be related to MPA, PX4, or another factor?
Thanks in advance. -
RE: Instruction to set a Static IP for wlan0 voxl2
Another way to do it, maybe more in line with the way modal ai intended it is this :
Update dhcpcd.conf for Static IP
Open the dhcpcd.conf file for editing:nano /etc/dhcpcd.conf
Add the following lines at the end of the file to configure a static IP for wlan0:
interface wlan0 static ip_address=192.168.XX.XX/24 static routers=192.168.XX.1 static domain_name_servers=8.8.8.8 1.1.1.1
Explanation:
interface wlan0: Specifies the network interface to configure.
static ip_address=192.168.XX.XX/24: Assigns the static IP and subnet mask.
static routers=192.168.XX.1: Sets the gateway address.
static domain_name_servers=8.8.8.8 1.1.1.1: Configures DNS servers (Google and Cloudflare in this case).
Save and exit the file.Restart dhcpcd Service
Apply the changes by restarting the dhcpcd service:systemctl enable dhcpcd systemctl restart dhcpcd
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Instruction to set a Static IP for wlan0 voxl2
Guide to Configure a Static IP Address with systemd-networkd
I didn't find any guide on how to do it with the voxl2, even thestatic-ip
service seem reserved foreth0
configuration, tell me, if i'm wrong i'll delete this.If you want to assign a static IP address to your wireless network interface (using
systemd-networkd
), follow this simple guide. In this example, we configure thewlan0
interface to use the static IP address192.168.XX.XX
.
1. Check the Status of systemd-networkd
Before starting, ensure that
systemd-networkd
is enabled and running:sudo systemctl status systemd-networkd
If the service is not active, enable it:
sudo systemctl enable systemd-networkd sudo systemctl start systemd-networkd
2. Create the Configuration File for wlan0
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Navigate to the configuration directory:
cd /etc/systemd/network/
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Create a configuration file for your wireless interface (e.g.,
10-wlan0.network
)sudo nano 10-wlan0.network
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Add the following lines to the file:
[Match] Name=wlan0 [Network] Address="192.168.XX.XX"/24 Gateway="192.168.XX.1" DNS=8.8.8.8 1.1.1.1
Explanation:
Name=wlan0
: Specifies the target interface.Address=192.168.XX.XX/24
: Defines the IP address and subnet mask.Gateway=192.168.XX.1
: Sets the default gateway.DNS=8.8.8.8 1.1.1.1
: Configures the DNS servers.
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Save and close the file.
3. Restart systemd-networkd
Apply the new configuration by restarting the service:
sudo systemctl restart systemd-networkd
4. Verify the Configuration
To verify that the IP address has been assigned to
wlan0
:ip addr show wlan0
You should see the IP address
192.168.XX.XX
assigned to the interface.
5. Enable the Service at Boot
Ensure that
systemd-networkd
is enabled to run at every boot:sudo systemctl enable systemd-networkd
6. Reboot the System
To confirm everything works correctly on startup:
sudo reboot
You have now successfully configured a static IP address for the
wlan0
interface usingsystemd-networkd
on your voxl2! -
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RE: /tof_depth image conversion problem
Can you help me with the depth image conversion ?
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/tof_depth image conversion problem
Hello,
I would like to convert the depth image from mono8 to UC16 while maintaining accurate depth references.
Currently, I am doing this, but I am ending up with a flat image.void depthCallback(const sensor_msgs::ImageConstPtr &msg) { try { // Convert the input ROS image to an OpenCV image cv_bridge::CvImagePtr cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::MONO8); // Create a new image in CV_16UC1 format cv::Mat converted_image; cv_ptr->image.convertTo(converted_image, CV_16UC1, 256.0); // Scale mono8 values to 16-bit // Publish the converted image cv_bridge::CvImage out_msg; out_msg.header = msg->header; // Keep the same header out_msg.encoding = sensor_msgs::image_encodings::TYPE_16UC1; out_msg.image = converted_image; depth_pub_.publish(out_msg.toImageMsg()); // depth_pub_.publish(depth_msg); } catch (cv_bridge::Exception &e) { ROS_ERROR("CvBridge Error in depthCallback: %s", e.what()); } }
Also, I want to mix it with an RGB image to get an RGBD image, I'm using the rgbdsync nodelet from rtabmap_ros. But I'm unable to make it work. Does someone already did that ?
Julien -
RE: Motor stop functionning on starling 2
@Jeremy-Schmidt Hi,
It's resolved now, in the mean time I had a response from the support.
Have a good day
Julien -
RE: Motor stop functionning on starling 2
@Alex-Kushleyev I sent an email to the modal ai support for the RMA process and after a first response telling me that they'll check it, I still got no news from them and it has been 3 weeks. Do you know some other way to get in touch with the support. My starling is stuck to the ground since and I can't test anything.
Thanks
Julien -
RE: apt upgrade error
@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-servicesAnd 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
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apt upgrade error
HI,
I'm trying to upgrade a starlin2 but when I doapt-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
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RE: RAM building up fast
@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
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RAM building up fast
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,
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RE: Motor stop functionning on starling 2
@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
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VIO navigation with QGC wayypoint
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 -
RE: VIO waypoint navigation
@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