Topics created by labkit

Understood - ofcourse disabling wont do much as it is the same thing as running it from command line/bash vs in systemd - I am surprised it created different results when running in systemd vs bash.

Reason I want to disable/stop qvio is so that when you echo the /out topic you arent receiving anything from the ekf2 inside PX4 that is ingesting and creating the output.

Lastly, the fmu/in/visual_odometry, and fmu/out/visual_odometry are not supposed to be the same - the fmu/out is post processing - they should differ as it fuses all sensor data and such - what is the movement you are expecting?

Also have you checked the yaml file for PX4 - looks like there is a ros2 message specific just for mocap odometry.

https://github.com/modalai/px4-firmware/blob/636ffefcb1a96ad2b53e988d23bf6419955b69ea/src/modules/microdds_client/dds_topics.yaml#L73

@Eric-Katzfey Issue is mostly resolved. There were two main errors to fix. The first was that the cable that I was using needed to have its RX and TX wires swapped as Vinny pointed out. The second was that Docker Desktop needed to be uninstalled and replaced with only the core Docker CE Engine. After doing this, the HITL seems to be up and running on the alternate Linux computer I tested with. On the original computer, the "Serial port closed error" is no longer present although there does seem to be a graphics issue when attempting to run the Gazebo image with graphics.

8d0e6ab0-9969-4fb4-853c-4879b46992bf-image.png

Once this is fixed I think it should be all ready to perform simulations.

@labkit it is part of the SDK but not installed on the kernel - on you voxl2 please run the following:

sudo apt-get install voxl-ros2-foxy sudo apt-get install voxl-microdds-agent sudo apt-get install voxl-mpa-to-ros2 voxl-configure-mpa-to-ros2

Once this is done you should be ready to use ros2 by running source /opt/ros/foxy/setup.bash as well as export ROS_HOME=/opt/ros/foxy

Hope this helps. Also ensure that for the voxl-configure-mpa-to-ros2 line you have an active internet connection on the voxl2 as this requires some pip installs.

Thanks!
Zach