ModalAI Forum

Thank you @Alex-Kushleyev for the clarification. Currently I just redefined the magic numbers on my own and voxl-inspect-pose works as usual. I am hoping that this breaking change only affects a small number of use cases. If anyone else faces the same issue with magic numbers theres at least the discussion that might help them as well

Good day everyone!

Currently my voxl board is on sdk 1.4.5 and I had to make changes on voxl-vision-hub (1.8.21). I was building the package on voxl-cross:V4.4 and running the relocalization stack. Afterwards, when running voxl-inspect-pose, I came across the error about: ERROR validating pose_vel_6dof_t data received through pipe: 1 of 1 packets failed

After more digging, it turns out to be a magic number mismatch.


This is because of a recent magic number update in voxl sdk v1.5.0 (https://gitlab.com/voxl-public/voxl-sdk/core-libs/libmodal-pipe/-/blob/master/library/include/pipe_interfaces/magic_number.h?ref_type=heads).

Based on voxl-cross:V4.4's dockerfile, https://gitlab.com/voxl-public/support/voxl-docker/-/blob/master/voxl-cross/voxl-cross.Dockerfile?ref_type=heads, the sdk is downloaded through RUN wget http://voxl-packages.modalai.com/dists/qrb5165/sdk-1.5/binary-arm64/voxl-opencv_4.5.5-3_arm64.deb

This results in any package being built by voxl-cross:v4.4 to inherit the new sdk's header files which lead to the magic number mismatch.

I cannot think of a better fix other than to rebuild the docker container to match your own custom sdk. For others that might face the same problem or are not using V1.5.0 sdk, just be careful about the upstream dependencies(Especially the core libraries) when building voxl-cross.