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shlee853

Great!

I resolved this problem as you mentioned.

yocto:/$ rm /data/network/files/local-kv.db
yocto:/$ voxl-configure-docker-support.sh 
Stopping original docker service
Enabling our own services docker-start & docker-prepare
starting docker-start.service
loading hello-world docker image
successfully loaded hello-world
starting docker-prepare service
Created symlink from /etc/systemd/system/default.target.wants/docker-autorun.service to /etc/systemd/system/docker-autorun.service.

done configuring voxl-docker-support

shlee853

@PawelJ Maybe. I couldn't test VOA and apriltag function with version 0.3.4.

shlee853

Hi,

I'm compiling voxl-open-vins-server.

I got a clone form git and just noted need to install extra library for libeigen3 and libboost.

I got library libeigen3 from apt-get install but, I compiled source code and build x64 for libboost.

when I build code, I found an error as bellow

/usr/local/lib/libboost_system.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status

I think this error message relatives with compiler(not x64 , but aarch64) for libboost.

am I right? If I'm right, could you please let me know how to compile libboost for aarch64 architecture.

(I already got installed voxl-dependences)

voxl-cross:~$ ls
3rd_party       boost_1_77_0         build64       config.json            ipk                run.sh
CMakeLists.txt  boost_1_77_0.tar.gz  build_x86.sh  install_build_deps.sh  make_package.sh    server
README.md       build.sh             clean.sh      install_on_voxl.sh     push_to_voxl.bash  service
voxl-cross:~$ ./clean.sh 
voxl-cross:~$ ./build.sh
-- The C compiler identification is GNU 4.9.3
-- The CXX compiler identification is GNU 4.9.3
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9
-- Check for working C compiler: /usr/bin/aarch64-linux-gnu-gcc-4.9 -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9
-- Check for working CXX compiler: /usr/bin/aarch64-linux-gnu-g++-4.9 -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Boost version: 1.77.0
-- Setting up BOOST
--  Includes - /usr/local/include
--  Library  - /usr/local/lib
CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_core/CMakeLists.txt:17 (find_package)


-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Boost version: 1.77.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:20 (message):
  OPENCV VERSION: 4.5.2


CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:21 (message):
  BOOST VERSION: 107700


CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:27 (message):
  DISABLING ARUCOTAG TRACKING!


CMake Warning at 3rd_party/open_vins/ov_core/CMakeLists.txt:43 (message):
  BUILDING WITHOUT ROS!


-- Performing Test COMPILER_SUPPORTS_CXX11
-- Performing Test COMPILER_SUPPORTS_CXX11 - Success
-- Performing Test COMPILER_SUPPORTS_CXX0X
-- Performing Test COMPILER_SUPPORTS_CXX0X - Success
CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


CMake Warning at /usr/share/cmake-3.5/Modules/FindBoost.cmake:725 (message):
  Imported targets not available for Boost version 107700
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:763 (_Boost_COMPONENT_DEPENDENCIES)
  /usr/share/cmake-3.5/Modules/FindBoost.cmake:1332 (_Boost_MISSING_DEPENDENCIES)
  3rd_party/open_vins/ov_msckf/CMakeLists.txt:20 (find_package)


-- Boost version: 1.77.0
-- Found the following Boost libraries:
--   system
--   filesystem
--   thread
--   date_time
CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:23 (message):
  OPENCV VERSION: 4.5.2


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:24 (message):
  BOOST VERSION: 107700


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:30 (message):
  DISABLING ARUCOTAG TRACKING!


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:46 (message):
  BUILDING WITHOUT ROS!


CMake Warning at 3rd_party/open_vins/ov_msckf/CMakeLists.txt:87 (message):
  MANUALLY LINKING TO OV_CORE LIBRARY....


-- Boost version: 1.77.0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build64
Scanning dependencies of target ov_core_lib
[  2%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/dummy.cpp.o
[  8%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/sim/BsplineSE3.cpp.o
[  8%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/init/InertialInitializer.cpp.o
[ 11%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackBase.cpp.o
[ 14%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackAruco.cpp.o
[ 17%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackDescriptor.cpp.o
[ 20%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackKLT.cpp.o
[ 23%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/track/TrackSIM.cpp.o
[ 26%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/types/Landmark.cpp.o
[ 29%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/feat/Feature.cpp.o
[ 32%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/feat/FeatureInitializer.cpp.o
[ 35%] Building CXX object 3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/src/utils/print.cpp.o
[ 38%] Linking CXX shared library libov_core_lib.so
/usr/local/lib/libboost_system.so: error adding symbols: File in wrong format
collect2: error: ld returned 1 exit status
3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/build.make:434: recipe for target '3rd_party/open_vins/ov_core/libov_core_lib.so' failed
make[2]: *** [3rd_party/open_vins/ov_core/libov_core_lib.so] Error 1
CMakeFiles/Makefile2:163: recipe for target '3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/all' failed
make[1]: *** [3rd_party/open_vins/ov_core/CMakeFiles/ov_core_lib.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2
voxl-cross:~$

shlee853

hi dev,

My voxl is running on mavros without GPS.

please look at below log,

roskinetic:mavros_test$ ./run_mavros_test.sh 
... logging to /root/.ros/log/bd6cd59a-1283-11ec-8c7e-ec5c68cd25a1/roslaunch-apq8096-69.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.168.100:53481/

SUMMARY
========

CLEAR PARAMETERS
 * /mavros/

PARAMETERS
 * /mavros/cmd/use_comp_id_system_control: False
 * /mavros/conn/heartbeat_rate: 1.0
 * /mavros/conn/system_time_rate: 1.0
 * /mavros/conn/timeout: 10.0
 * /mavros/conn/timesync_rate: 10.0
 * /mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
 * /mavros/distance_sensor/hrlv_ez4_pub/id: 0
 * /mavros/distance_sensor/hrlv_ez4_pub/orientation: PITCH_270
 * /mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/laser_1_sub/id: 3
 * /mavros/distance_sensor/laser_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/laser_1_sub/subscriber: True
 * /mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
 * /mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
 * /mavros/distance_sensor/lidarlite_pub/id: 1
 * /mavros/distance_sensor/lidarlite_pub/orientation: PITCH_270
 * /mavros/distance_sensor/lidarlite_pub/send_tf: True
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
 * /mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
 * /mavros/distance_sensor/sonar_1_sub/id: 2
 * /mavros/distance_sensor/sonar_1_sub/orientation: PITCH_270
 * /mavros/distance_sensor/sonar_1_sub/subscriber: True
 * /mavros/fake_gps/eph: 2.0
 * /mavros/fake_gps/epv: 2.0
 * /mavros/fake_gps/fix_type: 3
 * /mavros/fake_gps/geo_origin/alt: 408.0
 * /mavros/fake_gps/geo_origin/lat: 47.3667
 * /mavros/fake_gps/geo_origin/lon: 8.55
 * /mavros/fake_gps/gps_rate: 5.0
 * /mavros/fake_gps/mocap_transform: True
 * /mavros/fake_gps/satellites_visible: 5
 * /mavros/fake_gps/tf/child_frame_id: fix
 * /mavros/fake_gps/tf/frame_id: map
 * /mavros/fake_gps/tf/listen: False
 * /mavros/fake_gps/tf/rate_limit: 10.0
 * /mavros/fake_gps/tf/send: False
 * /mavros/fake_gps/use_mocap: True
 * /mavros/fake_gps/use_vision: False
 * /mavros/fcu_protocol: v2.0
 * /mavros/fcu_url: udp://127.0.0.1:1...
 * /mavros/gcs_url: 
 * /mavros/global_position/child_frame_id: base_link
 * /mavros/global_position/frame_id: map
 * /mavros/global_position/gps_uere: 1.0
 * /mavros/global_position/rot_covariance: 99999.0
 * /mavros/global_position/tf/child_frame_id: base_link
 * /mavros/global_position/tf/frame_id: map
 * /mavros/global_position/tf/global_frame_id: earth
 * /mavros/global_position/tf/send: False
 * /mavros/global_position/use_relative_alt: True
 * /mavros/image/frame_id: px4flow
 * /mavros/imu/angular_velocity_stdev: 0.0003490659 // 0...
 * /mavros/imu/frame_id: base_link
 * /mavros/imu/linear_acceleration_stdev: 0.0003
 * /mavros/imu/magnetic_stdev: 0.0
 * /mavros/imu/orientation_stdev: 1.0
 * /mavros/landing_target/camera/fov_x: 2.0071286398
 * /mavros/landing_target/camera/fov_y: 2.0071286398
 * /mavros/landing_target/image/height: 480
 * /mavros/landing_target/image/width: 640
 * /mavros/landing_target/land_target_type: VISION_FIDUCIAL
 * /mavros/landing_target/listen_lt: False
 * /mavros/landing_target/mav_frame: LOCAL_NED
 * /mavros/landing_target/target_size/x: 0.3
 * /mavros/landing_target/target_size/y: 0.3
 * /mavros/landing_target/tf/child_frame_id: camera_center
 * /mavros/landing_target/tf/frame_id: landing_target
 * /mavros/landing_target/tf/listen: False
 * /mavros/landing_target/tf/rate_limit: 10.0
 * /mavros/landing_target/tf/send: True
 * /mavros/local_position/frame_id: map
 * /mavros/local_position/tf/child_frame_id: base_link
 * /mavros/local_position/tf/frame_id: map
 * /mavros/local_position/tf/send: False
 * /mavros/local_position/tf/send_fcu: False
 * /mavros/mission/pull_after_gcs: True
 * /mavros/mission/use_mission_item_int: True
 * /mavros/mocap/use_pose: True
 * /mavros/mocap/use_tf: False
 * /mavros/odometry/fcu/odom_child_id_des: base_link
 * /mavros/odometry/fcu/odom_parent_id_des: map
 * /mavros/plugin_blacklist: ['safety_area', '...
 * /mavros/plugin_whitelist: []
 * /mavros/px4flow/frame_id: px4flow
 * /mavros/px4flow/ranger_fov: 0.118682
 * /mavros/px4flow/ranger_max_range: 5.0
 * /mavros/px4flow/ranger_min_range: 0.3
 * /mavros/safety_area/p1/x: 1.0
 * /mavros/safety_area/p1/y: 1.0
 * /mavros/safety_area/p1/z: 1.0
 * /mavros/safety_area/p2/x: -1.0
 * /mavros/safety_area/p2/y: -1.0
 * /mavros/safety_area/p2/z: -1.0
 * /mavros/setpoint_accel/send_force: False
 * /mavros/setpoint_attitude/reverse_thrust: False
 * /mavros/setpoint_attitude/tf/child_frame_id: target_attitude
 * /mavros/setpoint_attitude/tf/frame_id: map
 * /mavros/setpoint_attitude/tf/listen: False
 * /mavros/setpoint_attitude/tf/rate_limit: 50.0
 * /mavros/setpoint_attitude/use_quaternion: False
 * /mavros/setpoint_position/mav_frame: LOCAL_NED
 * /mavros/setpoint_position/tf/child_frame_id: target_position
 * /mavros/setpoint_position/tf/frame_id: map
 * /mavros/setpoint_position/tf/listen: False
 * /mavros/setpoint_position/tf/rate_limit: 50.0
 * /mavros/setpoint_raw/thrust_scaling: 1.0
 * /mavros/setpoint_velocity/mav_frame: LOCAL_NED
 * /mavros/startup_px4_usb_quirk: True
 * /mavros/sys/disable_diag: False
 * /mavros/sys/min_voltage: 10.0
 * /mavros/target_component_id: 1
 * /mavros/target_system_id: 1
 * /mavros/tdr_radio/low_rssi: 40
 * /mavros/time/time_ref_source: fcu
 * /mavros/time/timesync_avg_alpha: 0.6
 * /mavros/time/timesync_mode: MAVLINK
 * /mavros/vibration/frame_id: base_link
 * /mavros/vision_pose/tf/child_frame_id: vision_estimate
 * /mavros/vision_pose/tf/frame_id: odom
 * /mavros/vision_pose/tf/listen: False
 * /mavros/vision_pose/tf/rate_limit: 10.0
 * /mavros/vision_speed/listen_twist: True
 * /mavros/vision_speed/twist_cov: True
 * /mavros/wheel_odometry/child_frame_id: base_link
 * /mavros/wheel_odometry/count: 2
 * /mavros/wheel_odometry/frame_id: odom
 * /mavros/wheel_odometry/send_raw: True
 * /mavros/wheel_odometry/send_twist: False
 * /mavros/wheel_odometry/tf/child_frame_id: base_link
 * /mavros/wheel_odometry/tf/frame_id: odom
 * /mavros/wheel_odometry/tf/send: False
 * /mavros/wheel_odometry/use_rpm: False
 * /mavros/wheel_odometry/vel_error: 0.1
 * /mavros/wheel_odometry/wheel0/radius: 0.05
 * /mavros/wheel_odometry/wheel0/x: 0.0
 * /mavros/wheel_odometry/wheel0/y: -0.15
 * /mavros/wheel_odometry/wheel1/radius: 0.05
 * /mavros/wheel_odometry/wheel1/x: 0.0
 * /mavros/wheel_odometry/wheel1/y: 0.15
 * /rosdistro: kinetic
 * /rosversion: 1.12.17

NODES
  /
    mavros (mavros/mavros_node)
    mavros_test_node (mavros_test/mavros_test_node)

auto-starting new master
process[master]: started with pid [79]
ROS_MASTER_URI=http://192.168.168.100:11311/

setting /run_id to bd6cd59a-1283-11ec-8c7e-ec5c68cd25a1
process[rosout-1]: started with pid [92]
started core service [/rosout]
process[mavros-2]: started with pid [110]
process[mavros_test_node-3]: started with pid [111]
x:  0.000 y:  0.000 yaw:   45.0
x:  0.020 y:  0.020 yaw:   44.9
x:  0.039 y:  0.039 yaw:   44.7
x:  0.059 y:  0.059 yaw:   44.4
x:  0.079 y:  0.078 yaw:   43.9
x:  0.099 y:  0.098 yaw:   43.3
x:  0.120 y:  0.117 yaw:   42.6
x:  0.141 y:  0.136 yaw:   41.7
x:  0.162 y:  0.154 yaw:   40.7
x:  0.184 y:  0.173 yaw:   39.5
x:  0.206 y:  0.191 yaw:   38.2
x:  0.229 y:  0.208 yaw:   36.7
x:  0.253 y:  0.225 yaw:   35.1
x:  0.277 y:  0.242 yaw:   33.3
x:  0.303 y:  0.258 yaw:   31.4
x:  0.328 y:  0.273 yaw:   29.2
x:  0.355 y:  0.287 yaw:   26.9
x:  0.383 y:  0.301 yaw:   24.4
x:  0.412 y:  0.313 yaw:   21.7
x:  0.441 y:  0.324 yaw:   18.9
x:  0.471 y:  0.333 yaw:   15.8
x:  0.503 y:  0.341 yaw:   12.5
x:  0.535 y:  0.347 yaw:    9.0
x:  0.568 y:  0.351 yaw:    5.3
x:  0.601 y:  0.353 yaw:    1.3
x:  0.635 y:  0.353 yaw:   -2.8
x:  0.670 y:  0.350 yaw:   -7.2
x:  0.704 y:  0.344 yaw:  -11.9
x:  0.739 y:  0.335 yaw:  -16.7
x:  0.773 y:  0.324 yaw:  -21.8
x:  0.806 y:  0.308 yaw:  -27.2
x:  0.838 y:  0.290 yaw:  -32.7
x:  0.868 y:  0.268 yaw:  -38.5
x:  0.896 y:  0.243 yaw:  -44.4
x:  0.922 y:  0.215 yaw:  -50.6
x:  0.945 y:  0.184 yaw:  -56.9
x:  0.964 y:  0.151 yaw:  -63.3
x:  0.980 y:  0.115 yaw:  -69.9
x:  0.991 y:  0.078 yaw:  -76.5
x:  0.998 y:  0.039 yaw:  -83.3
x:  1.000 y: -0.000 yaw:  270.0
x:  0.998 y: -0.039 yaw:  263.3
x:  0.991 y: -0.078 yaw:  256.5
x:  0.980 y: -0.115 yaw:  249.9
x:  0.964 y: -0.151 yaw:  243.3
x:  0.945 y: -0.184 yaw:  236.9
x:  0.922 y: -0.215 yaw:  230.6
x:  0.896 y: -0.243 yaw:  224.4
x:  0.868 y: -0.268 yaw:  218.5
x:  0.838 y: -0.290 yaw:  212.7
x:  0.806 y: -0.308 yaw:  207.2
x:  0.773 y: -0.324 yaw:  201.8
x:  0.739 y: -0.335 yaw:  196.7
x:  0.704 y: -0.344 yaw:  191.9
x:  0.670 y: -0.350 yaw:  187.2
x:  0.635 y: -0.353 yaw:  182.8
x:  0.601 y: -0.353 yaw:  178.7
x:  0.568 y: -0.351 yaw:  174.7
x:  0.535 y: -0.347 yaw:  171.0
x:  0.503 y: -0.341 yaw:  167.5
x:  0.471 y: -0.333 yaw:  164.2
x:  0.441 y: -0.324 yaw:  161.1
x:  0.412 y: -0.313 yaw:  158.3
x:  0.383 y: -0.301 yaw:  155.6
x:  0.355 y: -0.287 yaw:  153.1
x:  0.328 y: -0.273 yaw:  150.8
x:  0.303 y: -0.258 yaw:  148.6
x:  0.277 y: -0.242 yaw:  146.7
x:  0.253 y: -0.225 yaw:  144.9
x:  0.229 y: -0.208 yaw:  143.3
x:  0.206 y: -0.191 yaw:  141.8
x:  0.184 y: -0.173 yaw:  140.5
x:  0.162 y: -0.154 yaw:  139.3
x:  0.141 y: -0.136 yaw:  138.3
x:  0.120 y: -0.117 yaw:  137.4
x:  0.099 y: -0.098 yaw:  136.7
x:  0.079 y: -0.078 yaw:  136.1
x:  0.059 y: -0.059 yaw:  135.6
x:  0.039 y: -0.039 yaw:  135.3
x:  0.020 y: -0.020 yaw:  135.1
x:  0.000 y: -0.000 yaw:  135.0
x: -0.020 y:  0.020 yaw:  135.1
x: -0.039 y:  0.039 yaw:  135.3
x: -0.059 y:  0.059 yaw:  135.6
x: -0.079 y:  0.078 yaw:  136.1
x: -0.099 y:  0.098 yaw:  136.7
x: -0.120 y:  0.117 yaw:  137.4
x: -0.141 y:  0.136 yaw:  138.3
x: -0.162 y:  0.154 yaw:  139.3
x: -0.184 y:  0.173 yaw:  140.5
x: -0.206 y:  0.191 yaw:  141.8
x: -0.229 y:  0.208 yaw:  143.3
x: -0.253 y:  0.225 yaw:  144.9
x: -0.277 y:  0.242 yaw:  146.7
x: -0.303 y:  0.258 yaw:  148.6
x: -0.328 y:  0.273 yaw:  150.8
x: -0.355 y:  0.287 yaw:  153.1
x: -0.383 y:  0.301 yaw:  155.6
x: -0.412 y:  0.313 yaw:  158.3
x: -0.441 y:  0.324 yaw:  161.1
x: -0.471 y:  0.333 yaw:  164.2
x: -0.503 y:  0.341 yaw:  167.5
x: -0.535 y:  0.347 yaw:  171.0
x: -0.568 y:  0.351 yaw:  174.7
x: -0.601 y:  0.353 yaw:  178.7
x: -0.635 y:  0.353 yaw:  182.8
x: -0.670 y:  0.350 yaw:  187.2
x: -0.704 y:  0.344 yaw:  191.9
x: -0.739 y:  0.335 yaw:  196.7
x: -0.773 y:  0.324 yaw:  201.8
x: -0.806 y:  0.308 yaw:  207.2
x: -0.838 y:  0.290 yaw:  212.7
x: -0.868 y:  0.268 yaw:  218.5
x: -0.896 y:  0.243 yaw:  224.4
x: -0.922 y:  0.215 yaw:  230.6
x: -0.945 y:  0.184 yaw:  236.9
x: -0.964 y:  0.151 yaw:  243.3
x: -0.980 y:  0.115 yaw:  249.9
x: -0.991 y:  0.078 yaw:  256.5
x: -0.998 y:  0.039 yaw:  263.3
x: -1.000 y:  0.000 yaw:  270.0
x: -0.998 y: -0.039 yaw:  -83.3
x: -0.991 y: -0.078 yaw:  -76.5
x: -0.980 y: -0.115 yaw:  -69.9
x: -0.964 y: -0.151 yaw:  -63.3
x: -0.945 y: -0.184 yaw:  -56.9
x: -0.922 y: -0.215 yaw:  -50.6
x: -0.896 y: -0.243 yaw:  -44.4
x: -0.868 y: -0.268 yaw:  -38.5
x: -0.838 y: -0.290 yaw:  -32.7
x: -0.806 y: -0.308 yaw:  -27.2
x: -0.773 y: -0.324 yaw:  -21.8
x: -0.739 y: -0.335 yaw:  -16.7
x: -0.704 y: -0.344 yaw:  -11.9
x: -0.670 y: -0.350 yaw:   -7.2
x: -0.635 y: -0.353 yaw:   -2.8
x: -0.601 y: -0.353 yaw:    1.3
x: -0.568 y: -0.351 yaw:    5.3
x: -0.535 y: -0.347 yaw:    9.0
x: -0.503 y: -0.341 yaw:   12.5
x: -0.471 y: -0.333 yaw:   15.8
x: -0.441 y: -0.324 yaw:   18.9
x: -0.412 y: -0.313 yaw:   21.7
x: -0.383 y: -0.301 yaw:   24.4
x: -0.355 y: -0.287 yaw:   26.9
x: -0.328 y: -0.273 yaw:   29.2
x: -0.303 y: -0.258 yaw:   31.4
x: -0.277 y: -0.242 yaw:   33.3
x: -0.253 y: -0.225 yaw:   35.1
x: -0.229 y: -0.208 yaw:   36.7
x: -0.206 y: -0.191 yaw:   38.2
x: -0.184 y: -0.173 yaw:   39.5
x: -0.162 y: -0.154 yaw:   40.7
x: -0.141 y: -0.136 yaw:   41.7
x: -0.120 y: -0.117 yaw:   42.6
x: -0.099 y: -0.098 yaw:   43.3
x: -0.079 y: -0.078 yaw:   43.9
x: -0.059 y: -0.059 yaw:   44.4
x: -0.039 y: -0.039 yaw:   44.7
x: -0.020 y: -0.020 yaw:   44.9
[ INFO] [1631311759.388793603]: FCU URL: udp://127.0.0.1:14551@:14551
[ INFO] [1631311759.396783070]: udp0: Bind address: 127.0.0.1:14551
[ INFO] [1631311759.397976982]: GCS bridge disabled
[ INFO] [1631311759.400245795]: udp0: Remote address: 127.0.0.1:56806
[ INFO] [1631311759.447812595]: Plugin 3dr_radio loaded
[ INFO] [1631311759.455343049]: Plugin 3dr_radio initialized
[ INFO] [1631311759.455714561]: Plugin actuator_control loaded
[ INFO] [1631311759.471968184]: Plugin actuator_control initialized
[ INFO] [1631311759.472289071]: Plugin altitude loaded
[ INFO] [1631311759.477115397]: Plugin altitude initialized
[ INFO] [1631311759.477494201]: Plugin command loaded
[ INFO] [1631311759.510242697]: Plugin command initialized
[ INFO] [1631311759.510686710]: Plugin ftp loaded
[ INFO] [1631311759.550411179]: Plugin ftp initialized
[ INFO] [1631311759.552109312]: Plugin global_position loaded
[ INFO] [1631311759.685369351]: Plugin global_position initialized
[ INFO] [1631311759.685913364]: Plugin hil loaded
[ INFO] [1631311759.813216915]: Plugin hil initialized
[ INFO] [1631311759.816774121]: Plugin home_position loaded
[ INFO] [1631311759.845911922]: Plugin home_position initialized
[ INFO] [1631311759.848653811]: Plugin imu loaded
[ INFO] [1631311759.913209132]: Plugin imu initialized
[ INFO] [1631311759.916826546]: Plugin local_position loaded
[ INFO] [1631311759.970901399]: Plugin local_position initialized
[ INFO] [1631311759.971396141]: Plugin manual_control loaded
[ INFO] [1631311759.993519845]: Plugin manual_control initialized
[ INFO] [1631311759.994084223]: Plugin param loaded
[ INFO] [1631311760.014276407]: Plugin param initialized
[ INFO] [1631311760.017012514]: Plugin rc_io loaded
[ INFO] [1631311760.041773471]: Plugin rc_io initialized
[ INFO] [1631311760.043022904]: Plugin safety_area blacklisted
[ INFO] [1631311760.046509067]: Plugin setpoint_accel loaded
[ INFO] [1631311760.074815250]: Plugin setpoint_accel initialized
[ INFO] [1631311760.075271398]: Plugin setpoint_attitude loaded
[ INFO] [1631311760.144847734]: Plugin setpoint_attitude initialized
[ INFO] [1631311760.146022480]: Plugin setpoint_position loaded
[ INFO] [1631311760.275279478]: Plugin setpoint_position initialized
[ INFO] [1631311760.275659896]: Plugin setpoint_raw loaded
[ INFO] [1631311760.341442620]: Plugin setpoint_raw initialized
[ INFO] [1631311760.342054550]: Plugin setpoint_trajectory loaded
[ INFO] [1631311760.379593123]: Plugin setpoint_trajectory initialized
[ INFO] [1631311760.380600315]: Plugin setpoint_velocity loaded
[ INFO] [1631311760.427143880]: Plugin setpoint_velocity initialized
[ INFO] [1631311760.430494782]: Plugin sys_status loaded
[ INFO] [1631311760.519124391]: Plugin sys_status initialized
[ INFO] [1631311760.521015025]: Plugin sys_time loaded
[ INFO] [1631311760.565975978]: TM: Timesync mode: MAVLINK
[ INFO] [1631311760.579198961]: Plugin sys_time initialized
[ INFO] [1631311760.583767786]: Plugin vfr_hud loaded
[ INFO] [1631311760.589396408]: Plugin vfr_hud initialized
[ INFO] [1631311760.590035838]: Plugin waypoint loaded
[ INFO] [1631311760.629887703]: Plugin waypoint initialized
[ INFO] [1631311760.632079329]: Plugin wind_estimation loaded
[ INFO] [1631311760.635810285]: Plugin wind_estimation initialized
[ INFO] [1631311760.636696799]: Autostarting mavlink via USB on PX4
[ INFO] [1631311760.638840873]: Built-in SIMD instructions: ARM NEON
[ INFO] [1631311760.639629314]: Built-in MAVLink package version: 2021.3.3
[ INFO] [1631311760.640208692]: Known MAVLink dialects: common ardupilotmega ASLUAV all autoquad icarous matrixpilot paparazzi standard uAvionix ualberta
[ INFO] [1631311760.640389526]: MAVROS started. MY ID 1.240, TARGET ID 1.1
[ INFO] [1631311760.648647849]: IMU: High resolution IMU detected!
[ INFO] [1631311760.656519502]: IMU: Attitude quaternion IMU detected!
[ INFO] [1631311761.215702236]: CON: Got HEARTBEAT, connected. FCU: PX4 Autopilot
[ INFO] [1631311761.230725019]: IMU: High resolution IMU detected!
[ INFO] [1631311761.231438721]: IMU: Attitude quaternion IMU detected!
[ INFO] [1631311762.230214739]: WP: Using MISSION_ITEM_INT
[ INFO] [1631311762.230674168]: VER: 1.1: Capabilities         0x000000000000e4ef
[ INFO] [1631311762.232728918]: VER: 1.1: Flight software:     010b03ff (ce719e0511000005)
[ INFO] [1631311762.233295952]: VER: 1.1: Middleware software: 010b03ff (ce719e0511000000)
[ INFO] [1631311762.233867934]: VER: 1.1: OS software:         080200ff (ec20f2e6c5cc35b2)
[ INFO] [1631311762.234381114]: VER: 1.1: Board hardware:      0000a32f
[ INFO] [1631311762.235505494]: VER: 1.1: VID/PID:             0483:a32f
[ INFO] [1631311762.235855600]: VER: 1.1: UID:                 3438510a39303535
[ WARN] [1631311762.236558312]: CMD: Unexpected command 520, result 0
[ INFO] [1631311764.156329648]: waiting for offboard mode
[ INFO] [1631311771.216674825]: HP: requesting home position
[ INFO] [1631311776.228601254]: WP: item #0* F: C: 22 p: 0 0 0 nan x: 371699104 y: 1271139145 z: 50
[ INFO] [1631311776.229194590]: WP: mission received
[ INFO] [1631311781.218118457]: HP: requesting home position
[ INFO] [1631311791.216390876]: HP: requesting home position
[ WARN] [1631311797.217363066]: CMD: Unexpected command 176, result 1
[ INFO] [1631311801.216690857]: HP: requesting home position
[ INFO] [1631311811.216691357]: HP: requesting home position
[ INFO] [1631311821.217165245]: HP: requesting home position
[ INFO] [1631311831.217288715]: HP: requesting home position
[ INFO] [1631311841.216430044]: HP: requesting home position

mavros require home position. but, I have no GPS mode.

I wanna set local origin to home position for indoor flight.

could you please let me know how to set home position for indoor flight?

shlee853

@shlee853 I found a v3.5.6 on the github.

I'll try on this version.

https://github.com/mavlink/qgroundcontrol/releases/tag/v3.5.6

Thannks,

shlee853

@Eric-Katzfey I cannot see any pattern or stream on QGC yet. I verified my network connection. also, my voxl is properly connected in QGC.

where can I find QGC v3.5.6? I only available newest software on the website.

Thanks,

shlee853

Hi dev,

Nowadays, I found disappeared object avoidance feature on technical documents.

I wonder this feature is not applied to newest voxl-vision 0.4.6.
If I enable voa flag(already set collision prevention and object avoidance parameter on QGC), which features are invoked on VOXL? only collision prevention?
if right, what I have to do to use avoidance feature on QGC?
One more thing, in the case of voxl, object avoidance feature is originally implemented on voxl or use embedded avoidance algorithm from PX4?

Thanks

Thanks,

shlee853

I used embedded program on QGroundControl to receive streaming.

I started hires camera default using voxl-streamer.

QGC version is latest one and got from official website.

Thanks,

shlee853

Hi dev,

Have you ever seen this message on QGroundControl?

VideoReceiverLog: GStreamer error: Could not open resource for reading and writing.

when I receive rtsp stream data from voxl, I got a this message from qgroundcontrol. so, I can't watch any streaming on QGC.

could you please help me to resolve it, if you have any experience?

I'm using Ubuntu 18.04.

Thanks,

shlee853

@Eric-Katzfey I used both of them.

I tested latest version of voxl-suite with M500 VOXL flight.

Camera sources are hire-solution mpa, stereo and tracking camera also.

wireless connection is home 300Mbps wifi with 5.4GHz.

I got the stream data using VLC client for mpa and rqt_image_view for voxl_mpa_ros.

all of them has 3-4 seconds latency from source.

Is it normal?

Could you please let me know your latency for video streamming if you can measure?

Thanks,

shlee853

Hi dev team,

I'm testing video stream using voxl-rtsp, voxl-streamer.

I found a few seconds latency for streaming in my home wifi connection.

even I use pddl module, latency is simular.

could you please recommend to reduce latency for streamming?

Thanks,

shlee853

Great,

Thank you for your reply.

shlee853

@shlee853

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