ModalAI Forum

@James-Strawson ERROR fetching tf from tf ringbuffer - published constantly.

@Moderator Changing fps in the /etc/modalai/voxl-camera-server.conf file only works down. If I specify more than 30, then 30 remains. Moreover, 30 fps is indicated on your website.

Hi there,

We connected VOXL2 to Flight Core v2 using the method specified in the document:

https://docs.modalai.com/flight-core-v2-telemetry/. We connected the stereo camera, calibrated it, and started the voxl-dfs-server. We activated the following services:

voxl-camera-server
voxl-dfs-server
voxl-vision-px4
voxl-qvio-server

On voxl-portal, we can see the point cloud, the image from the stereo camera, and stereo disparity. In /run/mpa, we see the following poses:

horizon_cal_io
qvio
qvio_overlay
stereo_disparity
stereo_pc
vvpx4_attitude
vvpx4_body_wrt_local
vvpx4_gps_raw_int
vvpx4_sys_status
mavlink_to_px4
qvio_extended
stereo
stereo_disparity_scaled
voa_pc_out
vvpx4_body_wrt_fixed
vvpx4_fixed_pose_input
vvpx4_mavlink_io

We edited the file /etc/modalai/voxl-mapper.conf and added the following lines:

"depth_pipe_1": "/run/mpa/stereo_pc",
"depth_pipe_1_enable": true,
"extrinsics1_name": "stereo_l"

But when we run voxl-mapper -d, we encounter the following errors and the map is not generated:

Trying to init tsdf server
created tsdf server
waiting for server at /run/mpa/vvhub_body_wrt_fixed/
waiting for server at /run/mpa/stereo_pc
Initializing ESDF structs
Connected to depth pipe
Updating mesh
Updating ESDF Map
Generating CostMap
ERROR fetching tf from tf ringbuffer
there wasn't sufficient data in the buffer
ERROR fetching tf from tf ringbuffer
there wasn't sufficient data in the buffer

What are we doing wrong? What is missing? Is there a detailed instruction for VOXL2 on how to run voxl-mapper?"

Second question:

We have our own navigation and obstacle avoidance system, and it requires maintaining a minimum of 45-60 FPS for required capability. However, it is stated that the maximum FPS of your module is 30 FPS. Is there any way to bypass this limitation?

We would be keen to get the source code so we can develop optimisation of various bottlenecks to get the FPS up.

Thank you.

Sam.