@Zachary-Lowell-0 Hi! Thanks for the response. Im not sure if i am understanding correctly. Are you saying that the VOXL SDK would not compute the transformations for Ardupilot? And that i would have to compute those transformations myself within my GCS before sending the guided commands?
Posts made by Matt Ooi
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RE: mavlink set_position_target_local_ned does not seem to be transformedposted in AprilTag Relocalization
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RE: mavlink set_position_target_local_ned does not seem to be transformedposted in AprilTag Relocalization
Hi ModalAI team,
I have a suspicion to this issue. Firstly, i am connected to the VOXL via UDP, but i am not sending any heartbeats from my GCS (laptop); i am only sending theset_position_target_local_nedmessage. Could this be causing the VOXL to determine that this GCS is "disconnected" and thus not transforming theset_position_target_local_nedmessage? -
RE: mavlink set_position_target_local_ned does not seem to be transformedposted in AprilTag Relocalization
@coreyazion Just did another flight test after performing voxl-configure-vision-hub wizard and voxl-configure-tag-detector. Unfortunately the results were still the same and seems like the transformation is not happening despite fixed frame being offset in all debug modes I've tried.
I might try to use MAVROS next time since it worked for you. There is a slight chance that it may be the issue. -
RE: mavlink set_position_target_local_ned does not seem to be transformedposted in AprilTag Relocalization
@coreyazion I would be using MAVROS eventually as well, pymavlink is just a quick and easy way for me to test this out, I would assume that they would be sending the same mavlink message to the VOXL. As for PX4 vs Ardupilot, i would also assume that they would be the same, as the transformation would be within VOXL instead of the AP; if my drone is still reacting to the commands, but going to the EKF origin instead of the Aruco code, the problem may be within the voxl. This is what i think at least.
I will give a go at resetting and reinitializing everything in the configs! Hope it works!
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RE: mavlink set_position_target_local_ned does not seem to be transformedposted in AprilTag Relocalization
@coreyazion I have just tested the
voxl-inspect-pose -f, the results are as they should be. Is it possible that my mavlink command may be incorrect? From my understanding,set_position_target_local_nedtakes in a few differentcoordinate framesas per link. The one which i am using isMAV_FRAME_LOCAL_NED. There are a few other options and parameters, i am unsure if any of these affect or prevents the transformation? -
RE: mavlink set_position_target_local_ned does not seem to be transformedposted in AprilTag Relocalization
@coreyazion Thank you for this, I have used the web GUI to inspect the fixed frame pose; it does "jump" in position as soon as it sees the Aruco code, which is why i thought the only thing that may not be working was the transformation.
Nonetheless, I will test this out right now and get back to you!
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mavlink set_position_target_local_ned does not seem to be transformedposted in AprilTag Relocalization
Hi ModalAI Team,
I am using the VOXL Cam on an indoor Ardupilot based drone. It has been successful so far with short (distance) auto and manual flights. However, apriltag relocalization would be the next step into making this solution more robust for longer flights.I have been following the documentation on Apriltag Detection & Relocalization, as well as Mavlink for the UDP connection to the VOXL Cam.
This is the issue:
While in Guided mode, sending aset_position_target_local_neddoes not seem to be transformed, despite the VOXL being able to detect the Aruco code on the ground.
Just like your sample video in Relocalization, I took the drone off a few meters away from the Aruco code (EKF home position) without a view of the Aruco code. After flying manually to place the aruco code in view, i change the mode to guided, and sent a mavlink message to go to (0,0,-1). Instead of heading to the aruco code, it flies to the EKF home where i took-off from and hovers there.I have included some version information, configurations, and code snippets below.
I hope that someone could let me know what is wrong with my current setup.
voxl:~$ 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: Never 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-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 | 6.2% voxl-cpu-monitor | Enabled | Running | 0.0% voxl-dfs-server | Disabled | Not Running | 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 | 0.0% voxl-modem | Disabled | Not Running | voxl-portal | Enabled | Running | 0.0% voxl-qvio-server | Enabled | Running | 8.3% voxl-rangefinder-server | Disabled | Not Running | voxl-remote-id | Disabled | Not Running | voxl-streamer | Enabled | Running | 0.0% voxl-tag-detector | Enabled | Running | 2.0% voxl-tflite-server | Disabled | Not Running | voxl-time-sync | Disabled | Not Running | voxl-uvc-server | Disabled | Not Running | voxl-vision-hub | Enabled | Running | 0.0% voxl-wait-for-fs | Enabled | Completed |voxl-tag-detector.conf:
/** * This file contains configuration parameters for voxl-tag-detector. * You can specify up to 3 cameras to do detection on simultaneously. * For the stereo camera pair, only the left camera is used. */ { "detector_0": { "enable": true, "input_pipe": "tracking", "en_fast_mode": true, "n_threads": 1, "en_undistortion": true, "undistort_scale": 0.600000023841858, "overlay_name": "tracking_tag_overlay", "lens_cal_file": "/data/modalai/opencv_tracking_intrinsics.yml", "skip_n_frames": 5 }, "detector_1": { "enable": false, "input_pipe": "stereo", "en_fast_mode": true, "n_threads": 1, "en_undistortion": true, "undistort_scale": 0.899999976158142, "overlay_name": "stereo_tag_overlay", "lens_cal_file": "/data/modalai/opencv_stereo_intrinsics.yml", "skip_n_frames": 5 }, "detector_2": { "enable": false, "input_pipe": "extra", "en_fast_mode": true, "n_threads": 1, "en_undistortion": false, "undistort_scale": 1, "overlay_name": "extra_tag_overlay", "lens_cal_file": "/data/modalai/opencv_extra_intrinsics.yml", "skip_n_frames": 5 } }voxl-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": "off", "follow_tag_id": 1, "figure_eight_move_home": true, "robot_radius": 0.300000011920929, "collision_sampling_dt": 0.1, "max_lookahead_distance": 1, "en_tag_fixed_frame": true, "fixed_frame_filter_len": 5, "en_transform_mavlink_pos_setpoints_from_fixed_frame": true, "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 }] }tag_locations.conf:
{ "locations": [{ "id": 0, "name": "default_name", "loc_type": "fixed", "size_m": 0.16, "T_tag_wrt_fixed": [0, 0, 0], "R_tag_to_fixed": [[0, -1, 0], [1, 0, 0], [0, 0, 1]] }], "default_size_m": 0.16 }Python code used to send the
set_position_target_local_nedmessage:def set_position_target_local_ned(self, n, e, d): self.vehicle.mav.set_position_target_local_ned_send( 0, self.vehicle.target_system, self.vehicle.target_component, mavutil.mavlink.MAV_FRAME_LOCAL_NED, 0b0000111111111000, n, e, d, 0, 0, 0, 0, 0, 0, 0, 0 ) print(f"Position set to: N={n}, E={e}, D={d}")