voxl:/$ voxl-list-pipes -t
camera_image_metadata_t
dfs_disparity
dfs_disparity_scaled
qvio_overlay
stereo
tof_conf
tof_depth
tof_ir
tracking
cpu_stats_t
cpu_monitor
ext_vio_data_t
qvio_extended
imu_data_t
imu0
imu1
mavlink_message_t
mavlink_ap_heartbeat
mavlink_attitude
mavlink_from_gcs
mavlink_gps_raw_int
mavlink_local_position_ned
mavlink_onboard
mavlink_sys_status
mavlink_to_gcs
point_cloud_metadata_t
dfs_point_cloud
tof_pc
voa_pc_out
pose_vel_6dof_t
vvhub_body_wrt_fixed
vvhub_body_wrt_local
string
gcs_ip_list
text
horizon_cal_io
tof_data_t
tof
vio_data_t
qvio
Posts
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Vision Hub Issue -
Vision Hub Issue@Moderator
Thank you for your reply,
Yes, I have gone through the troubleshooting guides for VIO.
Yes, I have looked at the qvio_overlay. It was actually one of the first things I did. Everything looked normal but then suddenly the point percentage would drop from 100% to 0% when the seeker was on the bench.- The seeker performs as usualy in manual flight modes, otherthan the usual low stick throttle when trying to ascend.
- It will fly ok in VIO, the main problem is with VOA. I cannot even disable the VOA. After disabling VOA in voxl-vision-hub.conf, nothing changes in PX4. QGC says that VOA is still on and the Seeker does not move in any direction. When VOA is enabled, Obstacle distance remains at 2001,2001,2001,2001.... and does not change when I place my hand in front of the sensors on the Seeker. Then I will try to fly the Seeker with VOA enabled at 0.6 to 1 meter stopping distance, VOA does not work.
- qvio_overlay does not indicate any issues.
- Enabling and disabling VOA changes things but not in a good way as I mentioned above in #2 response.
- I posted the diagnostics of all these issues above in my first post.
This only happens with voxl_SDK_1.1.0, 1.1.1, 1.1.2, and 1.2.0 releases.
There are no problems with the voxl_platform_0.9.5 release. -
Vision Hub IssueI have also reverted the SDK to voxl_platform_0.9.5 and everything was working fine. It does not seem like a hardware issue. So I am wondering why the two newer SDK's are giving me issues with VIO and VOA.
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Vision Hub IssueHello, I am having a problem with my VOA and VIO unstable flights.
I am on the Seeker Voxl1 with a fresh stable release of the voxl_SDK_1.2.0.
This is the error message when I check my voxl-vision-hub;
voxl:~$ voxl-vision-hub loading our own config file ================================================================= Parameters as loaded from config file: config_file_version: 1 MAVROS / MAVSDK en_localhost_mavlink_udp 1 localhost_udp_port_number: 14551 VIO en_vio: 1 vio_pipe: qvio secondary_vio_pipe: ov en_reset_vio_if_initialized_inverted: 1 vio_warmup_s: 3.000000 send_odom_while_failed: 1 APQ8096-ONLY FEATURES en_set_clock_from_gps: 1 en_force_onboard_mav1_mode: 1 en_reset_px4_on_error: 1 MISC FEATURES horizon_cal_tolerance: 0.500000 OFFBOARD MODE offboard_mode: trajectory follow_tag_id: 0 figure_eight_move_home: 1 robot_radius: 0.300000 collision_sampling_dt: 0.100000 max_lookahead_distance: 1.000000 FIXED FRAME RELOCALIZATION en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 COLLISION PREVENTION (VOA) en_voa: 1 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 voa_memory_s: 1.000000 voa_max_pc_per_fusion: 100 voa_pie_min_dist_m: 0.250000 voa_pie_max_dist_m: 20.000000 voa_pie_under_trim_m: 1.000000 voa_pie_threshold: 3 voa_pie_slices: 36 voa_pie_bin_depth_m: 0.150000 voa_send_rate_hz: 20.000000 voa_input #0 enabled: 1 type: point_cloud input_pipe: dfs_point_cloud frame: stereo_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #1 enabled: 1 type: point_cloud input_pipe: stereo_front_pc frame: stereo_front_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #2 enabled: 1 type: point_cloud input_pipe: stereo_rear_pc frame: stereo_rear_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #3 enabled: 1 type: tof input_pipe: tof frame: tof max_depth: 6.000000 min_depth: 0.150000 cell_size: 0.080000 threshold: 3 x_fov_deg: 106.500000 y_fov_deg: 85.099998 conf_cutoff: 125 voa_input #4 enabled: 1 type: rangefinder input_pipe: rangefinders frame: body max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 ================================================================= loading extrinsics config file loading horizon cal file existing instance of voxl-vision-hub found, attempting to stop it starting geometry module starting autopilot monitor starting mavlink IO Waiting to connect to voxl-mavlink-server Connected to voxl-mavlink-server starting mavlink for ros starting fixed pose input starting vio manager Connected to VIO pipe: qvio Geometry module updating to use imu: imu1 for VIO new T imu wrt body: 0.0465 0.0332 -0.0130 new R imu to body: 0.0000 -0.0000 1.0000 1.0000 0.0000 -0.0000 -0.0000 1.0000 0.0000 done updating transforms to use imu: imu1 Detected Autopilot Mavlink SYSID 1 starting tag manager starting voa manager Connected to VOA input pipe: dfs_point_cloud Connected to VOA input pipe: tof starting horizon cal module starting offboard trajectory Trajectory Monitor connected to voa pointcloud Init complete ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server WARNING in VOA manager, no attitude data from px4 requesting autopilot_version Detected autopilot version: 1.11.3 ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-server ^C received SIGINT Ctrl-C Starting shutdown sequence stopping offboard trajectory exiting offboard trajectory thread stopping horizon_cal stopping voa manager exiting VOA thread stopping tag manager stopping vio manager stopping fixed pose in module Stopping mavlink for ros module exiting mavlink for ros localhost udp listener thread udp mavlink for ros stopped Stopping mavlink io module waiting for mavlink timer thread to join Stopping autopilot monitor closing remaining client pipes closing remaining server pipes Removing PID file exitingHere is what is currently running;
voxl:~$ voxl-inspect-services Scanning services... Service Name | Enabled | Running | CPU Usage ------------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 6.5% voxl-cpu-monitor | Enabled | Running | 0.0% voxl-dfs-server | Enabled | Running | 13.0% voxl-imu-server | Enabled | Running | 0.0% voxl-lepton-server | Disabled | Not Running | voxl-mavcam-manager | Enabled | Running | 0.0% voxl-mavlink-server | Enabled | Running | 4.3% voxl-modem | Disabled | Not Running | voxl-portal | Enabled | Running | 0.0% voxl-qvio-server | Enabled | Running | 6.5% voxl-rangefinder-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-streamer | Disabled | Not Running | voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 2.1% voxl-wait-for-fs | Enabled | Completed |voxl:~$ voxl-vision-hub -s loading our own config file ================================================================= Parameters as loaded from config file: config_file_version: 1 MAVROS / MAVSDK en_localhost_mavlink_udp 1 localhost_udp_port_number: 14551 VIO en_vio: 1 vio_pipe: qvio secondary_vio_pipe: ov en_reset_vio_if_initialized_inverted: 1 vio_warmup_s: 3.000000 send_odom_while_failed: 1 APQ8096-ONLY FEATURES en_set_clock_from_gps: 1 en_force_onboard_mav1_mode: 1 en_reset_px4_on_error: 1 MISC FEATURES horizon_cal_tolerance: 0.500000 OFFBOARD MODE offboard_mode: trajectory follow_tag_id: 0 figure_eight_move_home: 1 robot_radius: 0.300000 collision_sampling_dt: 0.100000 max_lookahead_distance: 1.000000 FIXED FRAME RELOCALIZATION en_tag_fixed_frame: 0 fixed_frame_filter_len: 5 en_transform_mavlink_pos_setpoints_from_fixed_frame:0 COLLISION PREVENTION (VOA) en_voa: 1 voa_upper_bound_m: -0.150000 voa_lower_bound_m: 0.150000 voa_memory_s: 1.000000 voa_max_pc_per_fusion: 100 voa_pie_min_dist_m: 0.250000 voa_pie_max_dist_m: 20.000000 voa_pie_under_trim_m: 1.000000 voa_pie_threshold: 3 voa_pie_slices: 36 voa_pie_bin_depth_m: 0.150000 voa_send_rate_hz: 20.000000 voa_input #0 enabled: 1 type: point_cloud input_pipe: dfs_point_cloud frame: stereo_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #1 enabled: 1 type: point_cloud input_pipe: stereo_front_pc frame: stereo_front_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #2 enabled: 1 type: point_cloud input_pipe: stereo_rear_pc frame: stereo_rear_l max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 voa_input #3 enabled: 1 type: tof input_pipe: tof frame: tof max_depth: 6.000000 min_depth: 0.150000 cell_size: 0.080000 threshold: 3 x_fov_deg: 106.500000 y_fov_deg: 85.099998 conf_cutoff: 125 voa_input #4 enabled: 1 type: rangefinder input_pipe: rangefinders frame: body max_depth: 8.000000 min_depth: 0.300000 cell_size: 0.080000 threshold: 4 x_fov_deg: 68.000000 y_fov_deg: 56.000000 conf_cutoff: 0 ================================================================= loading extrinsics config file loading horizon cal file existing instance of voxl-vision-hub found, attempting to stop it starting geometry module starting autopilot monitor starting mavlink IO Waiting to connect to voxl-mavlink-server Connected to voxl-mavlink-server starting mavlink for ros starting fixed pose input starting vio manager Detected Autopilot Mavlink SYSID 1 Connected to VIO pipe: qvio Geometry module updating to use imu: imu1 for VIO new T imu wrt body: 0.0465 0.0332 -0.0130 new R imu to body: 0.0000 -0.0000 1.0000 1.0000 0.0000 -0.0000 -0.0000 1.0000 0.0000 done updating transforms to use imu: imu1 starting tag manager starting voa manager Connected to VOA input pipe: dfs_point_cloud Connected to VOA input pipe: tof starting horizon cal module starting offboard trajectory Init complete Trajectory Monitor connected to voa pointcloud slice 0 dist none back slice 1 dist none slice 2 dist none slice 3 dist none slice 4 dist none slice 5 dist none slice 6 dist none slice 7 dist none slice 8 dist none slice 9 dist none left slice 10 dist none slice 11 dist none slice 12 dist none slice 13 dist none slice 14 dist none slice 15 dist none slice 16 dist none slice 17 dist none slice 18 dist none forward slice 19 dist none slice 20 dist none slice 21 dist none slice 22 dist none slice 23 dist none slice 24 dist none slice 25 dist none slice 26 dist none slice 27 dist none right slice 28 dist none slice 29 dist none slice 30 dist none slice 31 dist none slice 32 dist none slice 33 dist none slice 34 dist none slice 35 dist none WARNING in VOA manager, no attitude data from px4 slice 0 dist none back slice 1 dist none slice 2 dist none slice 3 dist none slice 4 dist none slice 5 dist none slice 6 dist none slice 7 dist none slice 8 dist none slice 9 dist none left slice 10 dist none slice 11 dist none slice 12 dist none slice 13 dist none slice 14 dist none slice 15 dist none slice 16 dist none slice 17 dist none slice 18 dist none forward slice 19 dist none slice 20 dist 1.91m slice 21 dist none slice 22 dist none slice 23 dist none slice 24 dist none slice 25 dist none slice 26 dist none slice 27 dist none right slice 28 dist none slice 29 dist none slice 30 dist none slice 31 dist none slice 32 dist none slice 33 dist none slice 34 dist none slice 35 dist none slice 0 dist none back slice 1 dist none slice 2 dist none slice 3 dist none slice 4 dist none slice 5 dist none slice 6 dist none slice 7 dist none slice 8 dist none slice 9 dist none left slice 10 dist none slice 11 dist none slice 12 dist none slice 13 dist none slice 14 dist none slice 15 dist none slice 16 dist none slice 17 dist none slice 18 dist none forward slice 19 dist none slice 20 dist 1.91m slice 21 dist none slice 22 dist none slice 23 dist none slice 24 dist none slice 25 dist none slice 26 dist none slice 27 dist none right slice 28 dist none slice 29 dist none slice 30 dist none slice 31 dist none slice 32 dist none slice 33 dist none slice 34 dist none slice 35 dist none ERROR validating TOF2 data received through pipe: read partial packet read 693516 bytes, but it should be a multiple of 693516 make sure you are using a recent voxl-camera-server that publishes a tof2_data_t type it's likely you are using an old voxl-camera-servervoxl:~$ voxl-version -------------------------------------------------------------------------------- system-image: 4.0.0 kernel: #1 SMP PREEMPT Thu Oct 13 17:57:05 UTC 2022 3.18.71-perf -------------------------------------------------------------------------------- hw platform: VOXL mach.var: 1.0 -------------------------------------------------------------------------------- voxl-suite: 1.2.0 -------------------------------------------------------------------------------- Packages: Repo: http://voxl-packages.modalai.com/dists/apq8096/sdk-1.2/binary-arm64/ Last Updated: 2024-06-28 07:54:15 List: apq8096-dfs-server 0.3.1 apq8096-imu-server 1.1.0 apq8096-libpng 1.6.38-1 apq8096-rangefinder-server 0.1.3 apq8096-system-tweaks 0.2.3 apq8096-tflite 2.8.3-1 libapq8096-io 0.6.1 libmodal-cv 0.4.0 libmodal-exposure 0.1.0 libmodal-journal 0.2.2 libmodal-json 0.4.3 libmodal-pipe 2.10.0 libvoxl-cci-direct 0.2.1 libvoxl-cutils 0.1.1 voxl-camera-calibration 0.5.4 voxl-camera-server 1.9.2 voxl-configurator 0.5.6 voxl-cpu-monitor 0.4.8 voxl-docker-support 1.3.1 voxl-gphoto2-server 0.0.10 voxl-jpeg-turbo 2.1.3-5 voxl-lepton-server 1.2.0 voxl-libgphoto2 0.0.4 voxl-libuvc 1.0.7 voxl-logger 0.4.0 voxl-mavcam-manager 0.5.3 voxl-mavlink 0.1.1 voxl-mavlink-server 1.4.0 voxl-modem 1.0.9 voxl-mongoose 7.7.0-1 voxl-mpa-to-ros 0.3.7 voxl-mpa-tools 1.1.5 voxl-opencv 4.5.5-2 voxl-portal 0.6.5 voxl-qvio-server 1.0.2 voxl-remote-id 0.0.9 voxl-streamer 0.7.4 voxl-suite 1.2.0 voxl-system-image 4.0-r0 voxl-tag-detector 0.0.4 voxl-tflite-server 0.3.2 voxl-utils 1.3.9 voxl-uvc-server 0.1.6 voxl-vision-hub 1.7.4 voxl-vpn 0.0.6 --------------------------------------------------------------------------------voxl:/$ voxl-inspect-qvio waiting for server dt(ms) | T_imu_wrt_vio (m) |Roll Pitch Yaw (deg)|features|quality| state|| 30.0 | 0.00 0.00 0.00| -0.0 -0.1 0.1| 23 | 100% | OKAY |C received SIGINT Ctrl-C closing and exitingvoxl-inspect-cam qvio
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fpt ERROR: invalid metadata, magic number=88429860, expected 1448040524 most likely client fell behind and pipe overflowedvoxl-inspect-cam stereo
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| fpt | stereo | 614400 | 640 | 480 | 5.07 | 125 | 8787 | 28.0 | 30voxl-inspect-cam tracking
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| t | tracking | 307200 | 640 | 480 | 5.01 | 100 | 10838 | 12.3 | 3Cvoxl-inspect-cam tof
| Pipe Name | bytes | wide | hgt |exp(ms)| gain | frame id |latency(ms)| t | tof | 0 | 0 | 0 | 0.00 | 0 | 0 | 25.4 | 8 ERROR: invalid metadata, magic number=0, expected 1448040524 most likely client fell behind and pipe overflowedEverything in Voxl Portal seems to be working as normal though.
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Video streaming latency/delayHello,
I was wondering if there is any way to improve the video latency with the Seeker on VOXL1.
I am currently using RVIZ to stream the stereo or tracking camera video to my host PC (where I am sitting and flying the Seeker), but there is about a 3 second delay in the video. This makes it very difficult to fly the Seeker out of my line of sight.
I have purchased a new Wi-Fi router to use as an extender/relay hoping to improve the video delay, but that did not work.
Has there been improvements in this area with the new VOXL1 SDK's? -
Streaming Stereo Cameravoxl-inspect-mavlink mavlink_sys_status| ID | Mavlink MSG Name |Counter| Hz | |-------|-----------------------------|-------|------| | 1 | sys_status | 92 | 5.0 | -
Streaming Stereo Cameravoxl:~$ voxl-inspect-sku family code: MRB-D0003 (seeker) compute board: 1 (voxl1) hw version: 7 cam config: 7 SKU: MRB-D0003-1-V7-C7 -
Streaming Stereo Cameravoxl:~$ systemctl status voxl-mavcam-manager -l ● voxl-mavcam-manager.service - voxl-mavcam-manager Loaded: loaded (/usr/bin/voxl-mavcam-manager; enabled; vendor preset: enabled) Active: failed (Result: signal) since Tue 2024-03-05 01:18:39 UTC; 20min ago Process: 17657 ExecStart=/bin/bash -c /usr/bin/voxl-mavcam-manager (code=killed, signal=ABRT) Main PID: 17657 (code=killed, signal=ABRT) Mar 05 01:18:39 apq8096 bash[17657]: snapshot_pipe_name: tracking Mar 05 01:18:39 apq8096 bash[17657]: video_record_pipe_name: tracking Mar 05 01:18:39 apq8096 bash[17657]: default_uri: rtsp://192.168.110.152:8900/live Mar 05 01:18:39 apq8096 bash[17657]: enable_auto_ip: 0 Mar 05 01:18:39 apq8096 bash[17657]: ================================================================= Mar 05 01:18:39 apq8096 bash[17657]: Camera name for qgc: Camera 0 Mar 05 01:18:39 apq8096 bash[17657]: Mavlink server Connected Mar 05 01:18:39 apq8096 systemd[1]: voxl-mavcam-manager.service: Main process exited, code=killed, status=6/ABRT Mar 05 01:18:39 apq8096 systemd[1]: voxl-mavcam-manager.service: Unit entered failed state. Mar 05 01:18:39 apq8096 systemd[1]: voxl-mavcam-manager.service: Failed with result 'signal'. -
Streaming Stereo Camera@tom This is what I see.
voxl:~$ systemctl status voxl-streamer ● voxl-streamer.service - voxl-streamer Loaded: loaded (/usr/bin/voxl-streamer; enabled; vendor preset: enabled) Active: active (running) since Tue 2024-03-05 01:18:42 UTC; 13min ago Process: 17793 ExecStartPre=/bin/sleep 5 (code=exited, status=0/SUCCESS) Main PID: 17800 (voxl-streamer) CGroup: /system.slice/voxl-streamer.service └─17800 /usr/bin/voxl-streamer Mar 05 01:31:34 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.11...1 Mar 05 01:31:34 apq8096 voxl-streamer[17800]: Camera server Connected Mar 05 01:31:34 apq8096 voxl-streamer[17800]: rtsp client disconnected, tota...0 Mar 05 01:31:34 apq8096 voxl-streamer[17800]: no more rtsp clients, closing ...y Mar 05 01:31:34 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.11...1 Mar 05 01:31:34 apq8096 voxl-streamer[17800]: Camera server Connected Mar 05 01:31:34 apq8096 voxl-streamer[17800]: rtsp client disconnected, tota...0 Mar 05 01:31:34 apq8096 voxl-streamer[17800]: no more rtsp clients, closing ...y Mar 05 01:31:34 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.11...1 Mar 05 01:31:34 apq8096 voxl-streamer[17800]: Camera server Connected Hint: Some lines were ellipsized, use -l to show in full.voxl:~$ systemctl status voxl-streamer -l ● voxl-streamer.service - voxl-streamer Loaded: loaded (/usr/bin/voxl-streamer; enabled; vendor preset: enabled) Active: active (running) since Tue 2024-03-05 01:18:42 UTC; 14min ago Process: 17793 ExecStartPre=/bin/sleep 5 (code=exited, status=0/SUCCESS) Main PID: 17800 (voxl-streamer) CGroup: /system.slice/voxl-streamer.service └─17800 /usr/bin/voxl-streamer Mar 05 01:33:33 apq8096 voxl-streamer[17800]: no more rtsp clients, closing source pipe intentionally Mar 05 01:33:33 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.110.159:48596(null) has connected, total clients: 1 Mar 05 01:33:33 apq8096 voxl-streamer[17800]: Camera server Connected Mar 05 01:33:33 apq8096 voxl-streamer[17800]: rtsp client disconnected, total clients: 0 Mar 05 01:33:33 apq8096 voxl-streamer[17800]: no more rtsp clients, closing source pipe intentionally Mar 05 01:33:33 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.110.159:48604(null) has connected, total clients: 1 Mar 05 01:33:33 apq8096 voxl-streamer[17800]: Camera server Connected Mar 05 01:33:33 apq8096 voxl-streamer[17800]: rtsp client disconnected, total clients: 0 Mar 05 01:33:33 apq8096 voxl-streamer[17800]: no more rtsp clients, closing source pipe intentionally Mar 05 01:33:33 apq8096 voxl-streamer[17800]: A new client rtsp://192.168.110.159:48606(null) has connected, total clients: 1 -
Streaming Stereo Camera -
Streaming Stereo Camera -
Streaming Stereo Camera -
Streaming Stereo Camera -
Streaming Stereo Camera@tom
Yes, I have ran through thevoxl-configure-skuand thevoxl-configure-mpa.
This is what my video stream seetings look like in QGC, if its the correct location.
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Streaming Stereo Camera -
Streaming Stereo CameraI am not able to view any video when executing the voxl-mavcam-manager either.
voxl:~$ voxl-mavcam-manager ================================================================= Parameters as loaded from config file: snapshot_pipe_name: tracking video_record_pipe_name: tracking default_uri: rtsp://192.168.110.152:8900/live enable_auto_ip: 1 ================================================================= Camera name for qgc: Camera 0 Mavlink server Connected Got camera information request auto-detected RTSP URI: rtsp://192.168.110.152:8900/live Got camera information request auto-detected RTSP URI: rtsp://192.168.110.152:8900/live Got camera information request auto-detected RTSP URI: rtsp://192.168.110.152:8900/live -
Streaming Stereo Camera@tom Thank you.
I tried it again without manually running voxl-streamer.
First I made sure it was on by inspecting my services.
When I confirmed that it was on, I tried to input the rtsp:// in the Open Network Stream in VLC, but it failed.
Here is the error message in VLCConnection failed: VLC could not connect to "192.168.110.152:8900". Your input can't be opened: VLC is unable to open the MRL 'rtsp://192.168.110.152:8900/live'. Check the log for details. Connection failed: VLC could not connect to "127.0.0.1:8900". Your input can't be opened: VLC is unable to open the MRL 'rtsp://127.0.0.1:8900/live'. Check the log for details. Connection failed: VLC could not connect to "192.168.110.159:8900". Your input can't be opened: VLC is unable to open the MRL 'rtsp://192.168.110.159:8900/live'. Check the log for details.Can you confirm that I should be using the rtsp://192.168.110.152:8900/live for the VLC network stream?
Or should it be rtsp://127.0.0.1:8900/live ?voxl:~$ voxl-streamer -i tracking Waiting for pipe tracking to appear Found Pipe detected following stats from pipe: w: 640 h: 480 fps: 30 format: RAW8 Stream available at rtsp://127.0.0.1:8900/liveHere is my settings in voxl-mavcam-manager
{ "snapshot_pipe_name": "tracking", "video_record_pipe_name": "tracking", "default_uri": "rtsp://192.168.110.152:8900/live", "enable_auto_ip": true } -
Streaming Stereo Camera@tom Thank you for your reply.
This is what I have setup in my voxl-streamer.conf{ "input-pipe": "tracking", "bitrate": 1000000, "rotation": 0, "decimator": 1, "port": 8900 }The services that are running are;
voxl:~$ voxl-inspect-services Scanning services... Service Name | Enabled | Running | CPU Usage ------------------------------------------------------------------- docker-autorun | Disabled | Not Running | docker-daemon | Disabled | Not Running | modallink-relink | Disabled | Not Running | voxl-camera-server | Enabled | Running | 5.1% voxl-cpu-monitor | Enabled | Running | 1.7% voxl-dfs-server | Disabled | Not Running | voxl-imu-server | Enabled | Running | 0.0% voxl-lepton-server | Disabled | Not Running | voxl-mavcam-manager | Enabled | Running | 1.7% voxl-mavlink-server | Enabled | Running | 5.1% voxl-modem | Disabled | Not Running | voxl-portal | Enabled | Running | 0.0% voxl-qvio-server | Enabled | Running | 6.8% voxl-rangefinder-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-streamer | Enabled | Running | 0.0% voxl-tag-detector | Disabled | Not Running | voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 3.4% voxl-wait-for-fs | Enabled | Completed |My vision-hub.conf
{ "config_file_version": 1, "en_localhost_mavlink_udp": false, "localhost_udp_port_number": 14551, "en_vio": true, "vio_pipe": "qvio", "secondary_vio_pipe": "ov", "en_reset_vio_if_initialized_inverted": true, "vio_warmup_s": 3, "send_odom_while_failed": true, "en_set_clock_from_gps": true, "en_force_onboard_mav1_mode": true, "en_reset_px4_on_error": true, "horizon_cal_tolerance": 0.5, "offboard_mode": "trajectory", "follow_tag_id": 0, "figure_eight_move_home": false, "robot_radius": 0.300000011920929, "collision_sampling_dt": 0.1, "max_lookahead_distance": 1, "en_tag_fixed_frame": false, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": false, "en_voa": true, "voa_upper_bound_m": -0.15000000596046448, "voa_lower_bound_m": 0.15000000596046448, "voa_voa_memory_s": 1, "voa_max_pc_per_fusion": 100, "voa_pie_max_dist_m": 20, "voa_pie_min_dist_m": 0.25, "voa_pie_under_trim_m": 1, "voa_pie_threshold": 3, "voa_send_rate_hz": 20, "voa_pie_slices": 36, "voa_pie_bin_depth_m": 0.15000000596046448, "voa_inputs": [{ "enabled": true, "type": "point_cloud", "input_pipe": "dfs_point_cloud", "frame": "stereo_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_front_pc", "frame": "stereo_front_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "point_cloud", "input_pipe": "stereo_rear_pc", "frame": "stereo_rear_l", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }, { "enabled": true, "type": "tof", "input_pipe": "tof", "frame": "tof", "max_depth": 6, "min_depth": 0.15000000596046448, "cell_size": 0.079999998211860657, "threshold": 3, "x_fov_deg": 106.5, "y_fov_deg": 85.0999984741211, "conf_cutoff": 125 }, { "enabled": true, "type": "rangefinder", "input_pipe": "rangefinders", "frame": "body", "max_depth": 8, "min_depth": 0.300000011920929, "cell_size": 0.079999998211860657, "threshold": 4, "x_fov_deg": 68, "y_fov_deg": 56, "conf_cutoff": 0 }] }Then when I go to run voxl-streamer, it works at first but when I open VLC it does not work.
voxl:~$ voxl-streamer -i tracking existing instance of voxl-streamer found, attempting to stop it Waiting for pipe tracking to appear Found Pipe detected following stats from pipe: w: 640 h: 480 fps: 30 format: RAW8 Stream available at rtsp://127.0.0.1:8900/live A new client rtsp://192.168.110.159:40472(null) has connected, total clients: 1 Camera server Connected ERROR: New frame rejected, status = -2 rtsp client disconnected, total clients: 0 no more rtsp clients, closing source pipe intentionally (voxl-streamer:3746): GLib-GObject-WARNING **: instance with invalid (NULL) class pointer (voxl-streamer:3746): GLib-GObject-CRITICAL **: g_signal_emit_by_name: assertion 'G_TYPE_CHECK_INSTANCE (instance)' failed ERROR: New frame rejected, status = -2 A new client rtsp://192.168.110.159:40484(null) has connected, total clients: 1 WARNING, _stop_helper_and_remove_pipe timed out joining read thread rtsp client disconnected, total clients: 0 no more rtsp clients, closing source pipe intentionally A new client rtsp://192.168.110.159:60720(null) has connected, total clients: 1 Camera server Connected rtsp client disconnected, total clients: 0 no more rtsp clients, closing source pipe intentionallyI am not sure why I am not able to do this.
192.168.110.152 is my current Seeker IP.
192.168.110.159 is my current host PC IP.What I would really like to do is connect my stereo stream with QGroundControl instead of VLC. But I haven't even gotten VLC to stream it yet....
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Streaming Stereo CameraIs it possible to stream a stereo/tracking camera on the Seeker (SDK 1.1.2) with voxl-streamer?
