Hi,

You will need to install the openmp package for voxl which can be found here http://voxl-packages.modalai.com/stable/.

The easiest way to do this would be to follow these steps:

1. Edit the /etc/opkg/opkg.conf file and change the last line from src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/ to src/gz modalai http://voxl-packages.modalai.com/stable/

2. Run opkg update

3. Run opkg install openmp

4. Redit the /etc/opkg/opkg.conf file to change the last line back to the original i.e. src/gz modalai http://voxl-packages.modalai.com/dists/apq8096/stable/binary-arm64/

5. Rerun opkg update

Let me know if there are any issues.

Hi Howard,

The error occurs further up in the text. Without it I'm not sure what the issue is. Please could you post a more complete image of the error?

1. https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper - Here is the link to the publicly available repo. The voxl_mapper.cc file is under the server/voxl-mapper folder. On the voxl the file voxl_mapper.cc doesn't exist since its all packaged up into a single IPK file.

2. The planner sets the z coordinate of the goal to the current height so you would have to change it in this line https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper/-/blob/master/server/voxl-mapper/voxl_mapper.cc#L1001

The parameter scales the segment times evenly to ensure that the trajectory is feasible given the provided max velocity and max acceleration. It does not change the shape of the trajectory and only increases segment times. I believe that in your version of voxl-mapper we did not expose the parameters for max velocity and max acceleration.

In my recent testing I saw some cases where the trajectory length would be upwards of 3 minutes long despite the distance being extremely small. Changing this parameter prevents that. I have yet to look into the cause of this issue

Try changing the loco_scale_time parameter to false in the /etc/modalai/voxl-mapper.conf

@howard what offboard mode do you have set currently? It sounds like you may still be in figure eight mode.

So the issue is a mismatch in the data structures used to send the trajectory data. The structures were fixed in voxl-mapper v0.0.5 and voxl-vision-px4 >= v1.0.0.

So you're best bet is to upgrade voxl-vision-px4 which is only currently available on dev

@howard I need the version of voxl-vision-px4 as well to determine the problem

Hi,

Could you please post the output of the following command?

voxl-inspect-services -v