Hello,

I am trying to spin up a ROS2 node to run the single camera on the EVT board. Are there any software packages and/or source code available to interface with the single camera on the EVT?

Hi Travis,

I am using the EVT board at the moment. The problem is that is seems to be missing the Android NDK on board. We need these toolchain libraries onboard to compile tensorflowlite with NNAPI and hexagon acceleration delegates. The only thing that might work as of now is gpu delegation, but I haven't tested it at runtime just yet.

How was this done on the voxl? I tried downloading the hexagon sdk, but I am unsure how to compile and install the ndk on the RB5.

Hello,

I am attempting to build Tensorflow Lite v2.6 on the RB5 with NNAPI enabled. After following the tensorflow tutorial I am unable to build with NNAPI enabled even with the correct CMAKE Flags to enable the build.

The problem is a missing pre-processor definition of __ANDROID__=1.

After defining that, it seemed to cause some issues because of missing andoir includes such as.

sys/system_properties.h (copied cutils/sys/system_properties to resolve.
and
android/api-level.h

On the Qualcomm Website here:

https://developer.qualcomm.com/qualcomm-qcs610-development-kit/learning-resources/neural-network-api

It says I should be able to use NNAPI. I understand that the gstreamer plugin is an option, but I would like to interface tensorflow lite directly. Is there an SDK that will help me build this? I've looked through most of them and they don't seem to have the files that I would need most likely.

Has anyone made any progress with this or could point me in a good direction.

Okay thank you very much for the help!!

@Chad-Sweet Okay thank you for the help. Do you think this link is the source code used https://android.googlesource.com/platform/hardware/interfaces/+/master/camera

It looks very similar. Also do you know what Qualcomm SDK the camera library would be apart of?

Yes, I am compiling on board for armv7. It seems to be that there is an incomptability for the libCamera.so library to be used in GCC 7.5. SnapdragonCameraManger uses defines the "camera" library as a dependency in CMakeLists.txt. I believe the solution is to compile a new libCamera.so, but I do not know where to find the source code or an updated version of the library.

Hello, this might be out of ModalAI's realm of support, but we are migrating the voxl-camera drivers from ROS to ROS2. We run ROS at the yocto base layer. For ROS2 we needed to upgrade our GCC compiler to 7.5.

After adapting the code to fit ROS2, I ran into the issue of linking errors to the camera library. I receive errors like this:

libSnapdragonCameraManager.so: error: undefined reference to 'camera::CameraParams::getSupportedPreviewFormats[abi:cxx11]() const'
libSnapdragonCameraManager.so: error: undefined reference to 'camera::CameraParams::set(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'
libSnapdragonCameraManager.so: error: undefined reference to 'camera::CameraParams::setPreviewFormat(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)'

Since the SnapCameraDragon library passed initial build, it is correctly finding the camera.h and camera_parameter.h include files. However, I believe the root of this error is as follows: since the snapdragon camera manager library is compiled with a newer version of gcc, it cannot correctly link to the libcamera* libraries.

I would greatly appreciate a point in the right direction to obtain the source to compile with a new version. Also if it is part of the snapdragon SDK or hexagon SDK it would be great on steps for how to recompile those libraries with a new compiler in docker.

Any kind of help, big or small, would be greatly appreciated. Thank you so much!

Actually,

Turns out that although the antennas were working properly before and seemed to have a good connection, replacing the antennas solved this issue.

Wlan will not show up under ifconfig. Meaning that neither station or softap modes will work with voxl-wifi. I have tried restarting the wlan services with systemctl. I am wondering if this is a firmware issue. When I try restarting with:

systemctl restart wlan_daemon.service

I get this error:

Failed to restart wlan_daemon.service: Unit wcnss_wlan.service failed to load: No such file or directory.

I have also tried:

systemtctl restart start_wlan_services.service

This seems like maybe a break in the firmware and drivers somewhere? This has happened to two boards that have not been in flight and that had wlan/wifi working before.

I would appreciate any help to resolve this issue. I do not believe it is a hardware issue as both boards have the wifi antennas connected securely.