ModalAI Forum

@modaltb, the links provided were insightful

Before running a python script similar to the one provided in the link, I executed the commands

1. 'cat run/mpa/qvio/info': I was able to see information pertaining to qvio.
2. 'cat run/mpa/qvio/control': I was able to see the message continuously printed related to 'reset_hard_qvio'
3. 'cat run/mpa/qvio/request': It was blank

Which pipe should be read to get data in the form of 'vio_data_t'?

@modaltb
Thank you for the instructions, will give them a try!

@Chad-Sweet @modaltb

1. I was installing MAVSDK on voxl2 by following the instructions on 'https://gitlab.com/voxl-public/voxl-docker-images/voxl-docker-mavsdk-python/-/tree/master/' under the heading 'Pull Image from Registry'.
2. On voxl2, when I ran the command 'voxl-configure-docker-support enable' for the first time, I got a message saying install docker using 'voxl-configure-docker-support install'. Docker installation was successful after running 'voxl-configure-docker-support install'.
3. After running 'voxl-configure-docker-support enable' and following instructions on under 'Pull Image from Registry', I was able to install MAVSDK onto the board. I was able to run example scripts (python3 takeoff_and_land2.py udp://:14551) present in the repo. I was able to run it successfully
4. When I ran 'voxl-inspect-services' after running 'voxl-configure-docker-support enable', 'docker-autorun' and 'docker-daemon' was running and enabled.
5. I powered off the voxl2 after testing the example script (python3 takeoff_and_land2.py udp://:14551) in 'https://gitlab.com/voxl-public/voxl-docker-images/voxl-docker-mavsdk-python/-/tree/master/'.

Post this, when I powered on voxl2 and ran 'adb shell', I got an output 'no devices/emulators found'.

I followed the issue, seen in this thread

How to solve this issue? If the voxl2 has bricked, how to unbrick it?

How to unbrick voxl2?

@rohitpillai
How did you unbrick voxl2?

How can we read data from the pipe /run/mpa/qvio in python

We can specify which stereo camera should be calibrated using,
'voxl-calibrate-camera stereo_front -s 6x8 -l 0.038'

@Chad-Sweet

Hi, I was able to specify front stereo camera using the below command,
'voxl-calibrate-camera stereo_front -s 7x9 -l 0.02'

Thank you!

How to specify only the front/rear stereo camera should be calibrated when using the command 'voxl-calibrate-camera'?

Yes, I wanted to know how to specify which stereo camera to be calibrated while using 'voxl-calibrate-camera'. I want to calibrate the front stereo only.

How to calibrate only front or rear stereo camera on voxl2 using 'voxl-calibrate-camera' command?

@Matthew-Booker
This worked! Thank you

@Matthew-Booker
I ran the below commands on voxl cross:
./install_build_deps.sh qrb5165 sdk-0.8
./build.sh qrb5165
./make_package.sh
./deploy_to_voxl.sh

I ran voxl-mapper after this on the board and got the error 'voxl-mapper: symbol lookup error: voxl-mapper: undefined symbol: _ZNK7voxblox5LayerINS_9EsdfVoxelEE10saveToFileENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEb
'

I wanted to add arm64 to /etc/opkg/arch.conf but voxl2 uses apt. How to solve the above issue?

On the voxl-mapper website 'https://gitlab.com/voxl-public/voxl-sdk/services/voxl-mapper', it says 'voxl-mapper requires some form of depth sensor input. As of now, the application is setup to take this depth input from a TOF sensor.'
As there is no TOF on voxl2, what changes are to be made for voxl-mapper to work on voxl2

@Matthew-Booker How to do the same on voxl2

I tried the below commands
voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./install_build_deps.sh apq8096 sdk-0.8
voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./build.sh apq8096
voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./make_package.sh
voxl-cross:~/voxl-mapper(master)(0.0.7)$ ./deploy_to_voxl.sh

On the voxl2 board
voxl2:/$ voxl-configure-pkg-manager
Chose sdk 0.8
voxl2:/$ apt update
voxl2:/$ voxl-mapper

I got the below error
'
Loading our own config file
Loading extrinsics config file
Trying to init tsdf server
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
Aborted
'

If we are building it for voxlcam, what should be used?

If we use ./install_build_deps.sh apq8096 stable, we get the error,
'-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/voxlcam_mapper/voxl-mapper/build64
Consolidate compiler generated dependencies of target mav_trajectory_generation
[ 25%] Built target mav_trajectory_generation
Consolidate compiler generated dependencies of target mav_planning_common
[ 36%] Built target mav_planning_common
Consolidate compiler generated dependencies of target voxblox_planning_common
Consolidate compiler generated dependencies of target mav_path_smoothing
[ 44%] Built target voxblox_planning_common
[ 58%] Built target mav_path_smoothing
Consolidate compiler generated dependencies of target voxblox_loco_planner
[ 69%] Built target voxblox_loco_planner
Consolidate compiler generated dependencies of target mav_local_planner
[ 77%] Built target mav_local_planner
Consolidate compiler generated dependencies of target voxl-mapper
[ 80%] Building CXX object server/voxl-mapper/CMakeFiles/voxl-mapper.dir/voxl_mapper.cc.o
/home/root/voxlcam_mapper/voxl-mapper/server/voxl-mapper/voxl_mapper.cc: In member function 'virtual bool voxblox::TsdfServer::loadMap(std::string, std::string)':
/home/root/voxlcam_mapper/voxl-mapper/server/voxl-mapper/voxl_mapper.cc:1164:54: error: 'class voxblox::Layervoxblox::TsdfVoxel' has no member named 'loadBlocksFromFile'
bool tsdf_loaded = tsdf_map_->getTsdfLayerPtr()->loadBlocksFromFile(
^
/home/root/voxlcam_mapper/voxl-mapper/server/voxl-mapper/voxl_mapper.cc:1172:54: error: 'class voxblox::Layervoxblox::EsdfVoxel' has no member named 'loadBlocksFromFile'
bool esdf_loaded = esdf_map_->getEsdfLayerPtr()->loadBlocksFromFile(
^
server/voxl-mapper/CMakeFiles/voxl-mapper.dir/build.make:159: recipe for target 'server/voxl-mapper/CMakeFiles/voxl-mapper.dir/voxl_mapper.cc.o' failed
make[2]: *** [server/voxl-mapper/CMakeFiles/voxl-mapper.dir/voxl_mapper.cc.o] Error 1
CMakeFiles/Makefile2:398: recipe for target 'server/voxl-mapper/CMakeFiles/voxl-mapper.dir/all' failed
make[1]: *** [server/voxl-mapper/CMakeFiles/voxl-mapper.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2
'

We were able to compile voxl-mapper on voxl-cross and deploy it on the voxl.

When we try running voxl-mapper, on the voxl2, we get the error 'voxl-mapper: symbol lookup error: voxl-mapper: undefined symbol: _ZNK7voxblox5LayerINS_9EsdfVoxelEE10saveToFileENSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEb
' as seen in the image.

How can this error be fixed?