ModalAI Forum

Kyuhyong You

@Kyuhyong-You
It actually turned out that the host-pc has ufw enabled.
Disabling ufw solved the issue.

Thanks

Kyuhyong You

@Zachary-Lowell-0
Is there a way to publish ros2 message to certain ethernet port?

Kyuhyong You

As soon as I install voxl-ros2-foxy, I see topics being published

$ ros2 topic list
/fmu/collision_constraints/out
/fmu/debug_array/in
/fmu/debug_key_value/in
/fmu/debug_value/in
/fmu/debug_vect/in
/fmu/manual_control_setpoint/in
/fmu/offboard_control_mode/in
/fmu/onboard_computer_status/in
/fmu/optical_flow/in
/fmu/position_setpoint/in
/fmu/position_setpoint_triplet/in
/fmu/sensor_combined/out
/fmu/telemetry_status/in
/fmu/timesync/in
/fmu/timesync/out
/fmu/trajectory_bezier/in
/fmu/trajectory_setpoint/in
/fmu/trajectory_waypoint/out
/fmu/vehicle_attitude/out
/fmu/vehicle_command/in
/fmu/vehicle_command_ack/out
/fmu/vehicle_global_position/out
/fmu/vehicle_local_position/out
/fmu/vehicle_local_position_setpoint/in
/fmu/vehicle_mocap_odometry/in
/fmu/vehicle_odometry/out
/fmu/vehicle_offboard_setpoints/in
/fmu/vehicle_setpoints/in
/fmu/vehicle_status/out
/fmu/vehicle_trajectory_bezier/in
/fmu/vehicle_trajectory_waypoint/in
/fmu/vehicle_trajectory_waypoint_desired/out
/fmu/vehicle_visual_odometry/in
/gimbal_attitude
/mission_command
/mission_command_ack
/mission_status
/parameter_events
/physical_state
/rosout
/set_vehicle_id
/stick_command
/timesync_status
/vehicle_command
/vehicle_command_ack
/vehicle_status

I didn't even installed voxl-microdds-agent, voxl-mpa-to-ros2
How can I let voxl stop sending these message?
I just want to run the agent myself.
Thanks,

Kyuhyong You

Hello,
I am trying to use 4 in 1 esc from https://holybro.com/collections/autopilot-peripherals/products/tekko32-f4-metal-4in1-65a-esc-65a
This esc works with DSHOT however
https://nearth.atlassian.net/l/cp/HSr9ZCoU says DSHOT is "Not yet supported"

If DSHOT not available, can I use PWM instead?
Which port should I use on voxl 2 board to connect PWM input to esc?
Thanks,

Kyuhyong You

@Zachary-Lowell-0
I was finally able to install ros2 on voxl2 with latest sdk 1.1.0 and run voxl_mpa_to_ros2_node.
and I can see the topics on voxl2 as below.

VOXL:~$ ros2 topic list
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/failsafe_flags
/fmu/out/position_setpoint_triplet
/fmu/out/sensor_combined
/fmu/out/timesync_status
/fmu/out/vehicle_attitude
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_local_position
/fmu/out/vehicle_odometry
/fmu/out/vehicle_status
/parameter_events
/rosout

Now I am trying to send command via ros2 message from my host pc however those topics are not visible on my host pc.

HOST_PC:~$ ros2 topic list
/parameter_events
/rosout

They both have same ROS_DOMAIN_ID=0
They are in the same network router and share same ip layer 10.10.150.XXX

Kyuhyong You

@Kyuhyong-You

After reboot this error is magically gone.
now I can see topics
after $ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node

then in another terminal on voxl, I see below topics

$ ros2 topic list
/fmu/in/obstacle_distance
/fmu/in/offboard_control_mode
/fmu/in/onboard_computer_status
/fmu/in/sensor_optical_flow
/fmu/in/telemetry_status
/fmu/in/trajectory_setpoint
/fmu/in/vehicle_attitude_setpoint
/fmu/in/vehicle_command
/fmu/in/vehicle_mocap_odometry
/fmu/in/vehicle_rates_setpoint
/fmu/in/vehicle_trajectory_bezier
/fmu/in/vehicle_trajectory_waypoint
/fmu/in/vehicle_visual_odometry
/fmu/out/failsafe_flags
/fmu/out/position_setpoint_triplet
/fmu/out/sensor_combined
/fmu/out/timesync_status
/fmu/out/vehicle_attitude
/fmu/out/vehicle_control_mode
/fmu/out/vehicle_local_position
/fmu/out/vehicle_odometry
/fmu/out/vehicle_status
/parameter_events
/rosout

Kyuhyong You

@Kyuhyong-You
I found solution.
This error was resolved by apt installing libtinyxml2 by
sudo apt install libtinyxml2-dev

Kyuhyong You

With sdk 1.1.0 up and running.
apt installed ros-foxy and voxl_mpa_to_ros2 as well.
as described in this document https://docs.modalai.com/ros2-installation-voxl2/

When trying to start voxl_mpa_to_ros2_node I get following error.

$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node
/opt/ros/foxy/mpa_to_ros2/install/voxl_mpa_to_ros2/lib/voxl_mpa_to_ros2/voxl_mpa_to_ros2_node: error while loading shared libraries: libtinyxml2.so.6: cannot open shared object file: No such file or directory

How to fix this error?

Kyuhyong You

Hello,

I just upgraded my voxl2 with the latest sdk 1.1.0 and apt installed ros2 relate packages as follows

sudo apt install voxl-ros2-foxy
$ sudo apt install voxl-microdds-agent
$ sudo apt install voxl-mpa-to-ros2
$ pip3 install netifaces
$ pip3 install pyyaml

After source /opt/ros/foxy/setup.bash and tried to run ros2 topic and it returns following error.

$ ros2 topic list
Unable to get rmw_implementation_identifier, try specifying the implementation to use via the 'RMW_IMPLEMENTATION' environment variable

It seems like RMW_IMPLEMENTATION not set in the bash.
How to set this variable to run on voxl?

Also tried to run configuration as below

$ sudo voxl-configure-microdds
Starting Wizard
 
do you want to enable or disable voxl-microdds-agent
factory-enable will also reset the config file back to default
1) disable
2) enable
#? 2
enabling  voxl-microdds-agent systemd service
Created symlink /etc/systemd/system/multi-user.target.wants/voxl-microdds-agent.service → /etc/systemd/system/voxl-microdds-agent.service.
Done configuring voxl-microdds-agent

And inspect service returns

$ voxl-inspect-services
Scanning services...

 Service Name             |  Enabled  |   Running   |  CPU Usage
-------------------------------------------------------------------
 docker-autorun           | Disabled  | Not Running |  
 modallink-relink         | Disabled  | Not Running |  
 voxl-camera-server       |  Enabled  | Not Running |  
 voxl-cpu-monitor         |  Enabled  |   Running   |     0.7%
 voxl-dfs-server          | Disabled  | Not Running |  
 voxl-feature-tracker     | Disabled  | Not Running |  
 voxl-flow-server         | Disabled  | Not Running |  
 voxl-imu-server          |  Enabled  |   Running   |     6.2%
 voxl-lepton-server       | Disabled  | Not Running |  
 voxl-mavcam-manager      |  Enabled  |   Running   |     0.0%
 voxl-mavlink-server      |  Enabled  |   Running   |     3.4%
 voxl-microdds-agent      |  Enabled  |   Running   |    13.5%
 voxl-modem               | Disabled  | Not Running |  
 voxl-portal              |  Enabled  |   Running   |     0.1%
 voxl-px4-imu-server      | Disabled  | Not Running |  
 voxl-px4                 |  Enabled  |   Running   |    40.2%
 voxl-qvio-server         |  Enabled  |   Running   |     4.2%
 voxl-rangefinder-server  | Disabled  | Not Running |  
 voxl-remote-id           | Disabled  | Not Running |  
 voxl-softap              | Disabled  | Not Running |  
 voxl-static-ip           | Disabled  | Not Running |  
 voxl-streamer            |  Enabled  |   Running   |     0.1%
 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   |     1.8%
 voxl-wait-for-fs         |  Enabled  |  Completed  |``

Kyuhyong You

@tom
Wow I didn't know there is dedicated apt package to install ros-foxy and why the guide leads to install ros via script.
Anyway thanks for the comment and I will try to install as you mentioned.

Kyuhyong You

@tom I see.
I updated flash with the latest sdk image and now I can see the version number.

$ voxl-version
--------------------------------------------------------------------------------
system-image: 1.7.1-M0054-14.1a-perf-nightly-20231025
kernel:       #1 SMP PREEMPT Thu Oct 26 03:25:38 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   1.1.0
--------------------------------------------------------------------------------
Packages:
Repo:  http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
Last Updated: 2023-11-20 08:24:30
List:
	libmodal-cv                 0.4.0
	libmodal-exposure           0.1.0
	libmodal-journal            0.2.2
	libmodal-json               0.4.3
	libmodal-pipe               2.9.2
	libqrb5165-io               0.4.2
	libvoxl-cci-direct          0.2.1
	libvoxl-cutils              0.1.1
	mv-voxl                     0.1-r0
	qrb5165-bind                0.1-r0
	qrb5165-dfs-server          0.2.0
	qrb5165-imu-server          1.0.0
	qrb5165-rangefinder-server  0.0.4
	qrb5165-slpi-test-sig       01-r0
	qrb5165-system-tweaks       0.2.3
	qrb5165-tflite              2.8.0-2
	voxl-bind-spektrum          0.1.0
	voxl-camera-calibration     0.5.1
	voxl-camera-server          1.8.7
	voxl-configurator           0.4.4
	voxl-cpu-monitor            0.4.7
	voxl-docker-support         1.3.0
	voxl-elrs                   0.1.3
	voxl-esc                    1.3.4
	voxl-feature-tracker        0.3.2
	voxl-flow-server            0.3.3
	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                 0.3.5
	voxl-mavcam-manager         0.5.3
	voxl-mavlink                0.1.1
	voxl-mavlink-server         1.3.1
	voxl-microdds-agent         2.4.1-0
	voxl-modem                  1.0.8
	voxl-mongoose               7.7.0-1
	voxl-mpa-to-ros             0.3.7
	voxl-mpa-to-ros2            0.0.1
	voxl-mpa-tools              1.1.2
	voxl-opencv                 4.5.5-2
	voxl-portal                 0.6.2
	voxl-px4                    1.14.0-2.0.55
	voxl-px4-imu-server         0.1.2
	voxl-px4-params             0.2.7
	voxl-qvio-server            0.9.4
	voxl-remote-id              0.0.9
	voxl-streamer               0.7.4
	voxl-suite                  1.1.0
	voxl-tag-detector           0.0.4
	voxl-tflite-server          0.3.1
	voxl-utils                  1.3.3
	voxl-uvc-server             0.1.6
	voxl-vision-hub             1.7.1
	voxl2-system-image          1.7.1-r0
	voxl2-wlan                  1.0-r0

I also tried to install ros2 as described in https://docs.modalai.com/ros2-installation-voxl2/
by running ./installROS2.sh and I got following error while building the foonathan_memory.

CMake Error at CMakeLists.txt:7 (cmake_minimum_required):
  CMake 3.11 or higher is required.  You are running version 3.10.2


make[2]: *** [foo_mem-ext-prefix/src/foo_mem-ext-stamp/foo_mem-ext-configure] Error 1
make[1]: *** [CMakeFiles/foo_mem-ext.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< foonathan_memory_vendor [0.54s, exited with code 2]

It looks like it requires to update Cmake.
Do you have any suggestions?

Kyuhyong You

I could not find command to check the version of sdk.
Below is the info from sdb shell

system-image: 1.6.2-M0054-14.1a-perf
kernel:       #1 SMP PREEMPT Fri May 19 22:19:33 UTC 2023 4.19.125
--------------------------------------------------------------------------------
hw version:   M0054
--------------------------------------------------------------------------------
voxl-suite:   
--------------------------------------------------------------------------------
current IP: eth0:

Kyuhyong You

@Zachary-Lowell-0
Thanks for your comment!

So it means px4 on voxl2 is running microdds_client which is not compatible with uxrce_dds_cleint on the PX4 release/1.14.0
And the microdds_client will start automatically when px4 on voxl2 service is up and running?

Kyuhyong You

Hello,
I just wondering if volx2-px4 can run uxrce_dds_client as described here.
https://docs.px4.io/main/en/middleware/uxrce_dds.html

I was able to build install ros2 on voxl2 and uxrce_dds_agent and runs ok with external FC.

I also found voxl-px4 runs with v1.14.0 version

pxh> ver mcu
UNKNOWN MCU
pxh> ver hw
HW arch: MODALAI_VOXL2
pxh> ver all
HW arch: MODALAI_VOXL2
PX4 git-hash: 
PX4 version: 1.14.0 0 (17694720)
Vendor version: 2.0.34 0 (33563136)
OS: Linux
OS version: Release 4.19.125 (68386303)
Build datetime: Jun  7 2023 14:33:27
Build uri: localhost
Build variant: default
Toolchain: GNU GCC, 7.5.0
PX4GUID: 
UNKNOWN MCU

Is it possible to run dds client?

Kyuhyong You

Hello,
I am trying to use debug pins (GPIO_35_DBG_UART12_RX, TX) on voxl2 as described here.
https://docs.modalai.com/voxl2-connectors/#j3---legacy-board-to-board-connector-b2b

Which /dev/tty can I acess?
If not listed in /dev/tty how can I enable this pin as tty pin?
Is there any alternative way to talk/listen from serial port?
Thanks

Kyu

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Kyuhyong You

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