ModalAI Forum
    • Categories
    • Recent
    • Tags
    • Popular
    • Users
    • Groups
    • Register
    • Login
    1. Home
    2. Kyuhyong You
    3. Posts
    • Profile
    • Following 1
    • Followers 0
    • Topics 8
    • Posts 15
    • Best 1
    • Controversial 0
    • Groups 0

    Posts made by Kyuhyong You

    • RE: Host PC cannot detect ros topics from voxl2

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

      Thanks

      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • RE: Host PC cannot detect ros topics from voxl2

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

      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • how to stop microdds-agent from running?

      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,

      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • voxl2 and dshot esc

      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,

      posted in ESCs
      Kyuhyong YouK
      Kyuhyong You
    • Host PC cannot detect ros topics from voxl2

      @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

      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • RE: RMW_IMPLEMENTATION not set for ros2

      @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
      
      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • RE: voxl_mpa_to_ros2 error with libtinyxml2.so.6

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

      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • voxl_mpa_to_ros2 error with libtinyxml2.so.6

      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?

      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • RMW_IMPLEMENTATION not set for ros2

      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  |``
      
      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • RE: How to check which version of sdk is running?

      @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.

      posted in FAQs
      Kyuhyong YouK
      Kyuhyong You
    • RE: How to check which version of sdk is running?

      @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?

      posted in FAQs
      Kyuhyong YouK
      Kyuhyong You
    • How to check which version of sdk is running?

      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:
      
      posted in FAQs
      Kyuhyong YouK
      Kyuhyong You
    • RE: running uxrce_client with voxl2-px4

      @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?

      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • running uxrce_client with voxl2-px4

      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?

      posted in ROS
      Kyuhyong YouK
      Kyuhyong You
    • How to untilize DBG_UART12 pins as generic tty device?

      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

      posted in Ask your questions right here!
      Kyuhyong YouK
      Kyuhyong You