Posts made by shlee853

shlee853

I updated my m500 with System Image 4.0(ver 0.9).
But, I cannot see the installed voxl-mapper.

Can I need to install voxl-mapper manually? and need to install something else?

Thanks,

Setting up /etc/opkg/opkg.conf
[INFO] updating opkg package list
Downloading file:///data/voxl-suite-offline-packages/Packages.gz.
Updated source 'local'.
[INFO] installing voxl-suite
Downloading file:///data/voxl-suite-offline-packages/voxl-suite_0.9.4.ipk.
Installing voxl-suite (0.9.4) on root.
Installing apq8096-dfs-server (0.3.1) on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-dfs-server_0.3.1.ipk.
Installing libmodal-pipe (2.6.0) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-pipe_2.6.0.ipk.
Installing libmodal-json (0.4.3) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-json_0.4.3.ipk.
Installing voxl-opencv (4.5.5-1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-opencv_4.5.5-1.ipk.
Installing apq8096-imu-server (1.0.3) on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-imu-server_1.0.3.ipk.
Installing libapq8096-io (0.6.0) on root.
Downloading file:///data/voxl-suite-offline-packages/libapq8096-io_0.6.0.ipk.
Installing librc-math (1.3.0) on root.
Downloading file:///data/voxl-suite-offline-packages/librc-math_1.3.0.ipk.
Installing voxl-cpu-monitor (0.3.0) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-cpu-monitor_0.3.0.ipk.
Installing apq8096-tflite (2.8.3-1) on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-tflite_2.8.3-1.ipk.
Installing libmodal-cv (0.2.3) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-cv_0.2.3.ipk.
Installing libmodal-exposure (0.0.7) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-exposure_0.0.7.ipk.
Installing libmodal-journal (0.2.1) on root.
Downloading file:///data/voxl-suite-offline-packages/libmodal-journal_0.2.1.ipk.
Installing libvoxl-cutils (0.1.1) on root.
Downloading file:///data/voxl-suite-offline-packages/libvoxl-cutils_0.1.1.ipk.
Installing mavlink-camera-manager (0.1.0) on root.
Downloading file:///data/voxl-suite-offline-packages/mavlink-camera-manager_0.1.0.ipk.
Installing voxl-mavlink (0.1.0) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mavlink_0.1.0.ipk.
Installing voxl-camera-calibration (0.2.3) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-camera-calibration_0.2.3.ipk.
Installing voxl-camera-server (1.3.5) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-camera-server_1.3.5.ipk.
Installing libvoxl-cci-direct (0.1.5) on root.
Downloading file:///data/voxl-suite-offline-packages/libvoxl-cci-direct_0.1.5.ipk.
Installing voxl-docker-support (1.2.4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-docker-support_1.2.4.ipk.
Installing voxl-gphoto2-server (0.0.10) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-gphoto2-server_0.0.10.ipk.
Installing voxl-libgphoto2 (0.0.4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-libgphoto2_0.0.4.ipk.
Installing voxl-libuvc (1.0.7) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-libuvc_1.0.7.ipk.
Installing voxl-logger (0.3.4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-logger_0.3.4.ipk.
Installing voxl-jpeg-turbo (2.1.3-4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-jpeg-turbo_2.1.3-4.ipk.
Installing apq8096-libpng (1.6.38-1) on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-libpng_1.6.38-1.ipk.
Installing voxl-mavlink-server (0.2.0) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mavlink-server_0.2.0.ipk.
Installing voxl-modem (0.16.1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-modem_0.16.1.ipk.
Installing voxl-mpa-to-ros (0.3.6) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mpa-to-ros_0.3.6.ipk.
Installing voxl-mpa-tools (0.7.6) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mpa-tools_0.7.6.ipk.
Installing voxl-portal (0.4.2) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-portal_0.4.2.ipk.
Installing voxl-mongoose (7.7.0-1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-mongoose_7.7.0-1.ipk.
Installing voxl-qvio-server (0.8.2) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-qvio-server_0.8.2.ipk.
Installing voxl-streamer (0.4.1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-streamer_0.4.1.ipk.
Installing voxl-tag-detector (0.0.4) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-tag-detector_0.0.4.ipk.
Installing voxl-tflite-server (0.3.1) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-tflite-server_0.3.1.ipk.
Installing voxl-utils (1.2.2) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-utils_1.2.2.ipk.
Upgrading apq8096-system-tweaks from 0.1.1 to 0.1.3 on root.
Downloading file:///data/voxl-suite-offline-packages/apq8096-system-tweaks_0.1.3.ipk.
Installing voxl-uvc-server (0.1.3) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-uvc-server_0.1.3.ipk.
Installing voxl-vision-px4 (1.4.0) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-vision-px4_1.4.0.ipk.
Installing voxl-vpn (0.0.6) on root.
Downloading file:///data/voxl-suite-offline-packages/voxl-vpn_0.0.6.ipk.
voxl-suite installer detected system image 4.0.0
Configuring apq8096-libpng.
Configuring voxl-opencv.
Configuring libmodal-json.
Configuring libmodal-pipe.
Configuring apq8096-tflite.
Configuring voxl-tflite-server.
Configuring librc-math.
Configuring voxl-mpa-tools.
Configuring voxl-mpa-to-ros.
Configuring voxl-docker-support.
Configuring apq8096-dfs-server.
Configuring apq8096-system-tweaks.
Configuring voxl-mavlink.
Configuring mavlink-camera-manager.
Configuring voxl-jpeg-turbo.
Configuring voxl-logger.
Configuring voxl-qvio-server.
Configuring libmodal-cv.
Configuring voxl-vpn.
Configuring voxl-mavlink-server.
Configuring voxl-vision-px4.
Configuring voxl-libuvc.
Configuring voxl-uvc-server.
Configuring libmodal-journal.
Configuring libvoxl-cci-direct.
Configuring libvoxl-cutils.
Configuring voxl-camera-calibration.
Configuring voxl-streamer.
Configuring libmodal-exposure.
Configuring voxl-cpu-monitor.
Configuring voxl-libgphoto2.
Configuring voxl-gphoto2-server.
Configuring voxl-mongoose.
Configuring voxl-portal.
Configuring voxl-camera-server.
Configuring voxl-modem.
Configuring voxl-utils.
Created symlink from /etc/systemd/system/default.target.wants/voxl-wait-for-fs.service to /etc/systemd/system/voxl-wait-for-fs.service.
Configuring libapq8096-io.
Configuring apq8096-imu-server.
Configuring voxl-tag-detector.
Configuring voxl-suite.

===================================================== 
|            Done installing voxl-suite             |
|                                                   |
|         Please visit our online guides at         |
|             https://docs.modalai.com/             |
|                                                   |
|      To configure Modal Pipe Architecture (MPA)   |
|       services, please run voxl-configure-mpa     |
|                                                   |
| To see what MPA services are enabled and running, |
|           please run voxl-inspect-services        |
|                                                   |
|   To see a list of MPA utilities available, adb   |
|      or ssh into VOXL and type voxl{TAB}{TAB}     |
===================================================== 

[INFO] Pointing to correct repo
Using repo: sdk-0.9

Done configuring opkg
run opkg update to pull new repository manifest
[INFO] Done installing voxl-suite
----Installation Completed----

shlee853

@Alex-Gardner Voxl-Vision-PX4 is already running on background.

voxl:~$ voxl-inspect-services 
 Service Name         |  Enabled  |   Running   |  CPU Usage
---------------------------------------------------------------
 docker-autorun       | Disabled  | Not Running |  
 docker-daemon        | Disabled  | Not Running |  
 modallink-relink     | Disabled  | Not Running |  
 voxl-camera-server   |  Enabled  |   Running   |    19.1
 voxl-cpu-monitor     |  Enabled  |   Running   |     0.0
 voxl-dfs-server      |  Enabled  | Not Running |  
 voxl-imu-server      |  Enabled  |   Running   |     0.0
 voxl-mavlink-server  |  Enabled  |   Running   |     2.1
 voxl-modem           | Disabled  | Not Running |  
 voxl-portal          |  Enabled  |   Running   |     0.0
 voxl-qvio-server     |  Enabled  |   Running   |     2.1
 voxl-streamer        | Disabled  | Not Running |  
 voxl-tag-detector    | Disabled  | Not Running |  
 voxl-tflite-server   | Disabled  | Not Running |  
 voxl-time-sync       | Disabled  | Not Running |  
 voxl-vision-px4      |  Enabled  |   Running   |     4.2
 voxl-wait-for-fs     |  Enabled  |  Completed  |  
voxl:~$

shlee853

Hi,

I wanna check collision prevention function using TOF sensor.
My m 500 flight was set up with TOF + stereo cam + Tracking cam.
I checked VOA function in debug mode of voxl-vision-px4 as below.

 index:  0  dist: none back
 index:  1  dist: none
 index:  2  dist: none
 index:  3  dist: none
 index:  4  dist: none
 index:  5  dist: none
 index:  6  dist: none
 index:  7  dist: none
 index:  8  dist: none
 index:  9  dist: none left
 index: 10  dist: none
 index: 11  dist: none
 index: 12  dist: none
 index: 13  dist: 1.82m
 index: 14  dist: 2.11m
 index: 15  dist: 1.83m
 index: 16  dist: 1.66m
 index: 17  dist: 1.52m
 index: 18  dist: 1.04m forward
 index: 19  dist: 1.00m
 index: 20  dist: 0.83m
 index: 21  dist: 0.86m
 index: 22  dist: 0.42m
 index: 23  dist: 1.35m
 index: 24  dist: none
 index: 25  dist: none
 index: 26  dist: none
 index: 27  dist: none right
 index: 28  dist: none
 index: 29  dist: none
 index: 30  dist: none
 index: 31  dist: none
 index: 32  dist: none
 index: 33  dist: none
 index: 34  dist: none
 index: 35  dist: none
 index: 36  dist: none

Also, I enable collision prevention with 1.5m distance in QGC.

But, when I switch to Position mode, I got a message "avoidance/collision prevention Error" as below

This is my voxl-vision-px4 config file.

        "config_file_version":  1,                          
        "qgc_ip":       "192.168.219.164",                                   
        "en_secondary_qgc":     false,                                       
        "secondary_qgc_ip":     "192.168.1.214",                      
        "qgc_udp_port_number":  14550,                                        
        "udp_mtu":      512,                                                         
        "en_localhost_mavlink_udp":     true,                                          
        "localhost_udp_port_number":    14551,                            
        "en_vio":       true,                                         
        "en_voa":       true,                                                 
        "en_send_vio_to_qgc":   false,                                           
        "en_send_voa_to_qgc":   false,                                          
        "voa_upper_bound_m":    -0.15000000596046448,                              
        "voa_lower_bound_m":    0.15000000596046448,                               
        "en_set_clock_from_gps":        true,                                   
        "en_force_onboard_mav1_mode":   true,                                     
        "en_reset_px4_on_error":        true,             
        "qvio_auto_reset_quality":      0.00050000002374872565,                  
        "horizon_cal_tolerance":        0.300000011920929,                         
        "offboard_mode":        "trajectory",                                      
        "follow_tag_id":        0,                                                   
        "figure_eight_move_home":       true,                                   
        "en_tag_fixed_frame":   false,                                          
        "fixed_frame_filter_len":       5,                                       
        "en_transform_mavlink_pos_setpoints_from_fixed_frame":  false

Could you please let me know the reason?

One more question, I already check TOF VOA, TOF PC, but, cannot see any mapping result on voxl-portal.

How can I get map result?

Thanks,

shlee853

Hey you guy,

Did you solve this problem?

Thanks,

shlee853

Hi,

I'm using VOXL flight deck and installed stereo cam + TPF sensor + tracking cam.

As I know, stereo camera of VOA feature are used to enable mapping and planning using voxl-portal.

But, can I use TOF sensor instead of stereo cam for mapping and planning?

Thanks,

shlee853

Stereo camera is not running of my m500 drone after updating firmware.

I think physical connection is fine and sensors are ok. also, camera server is working. but I cannot get stereo image on VOXL-portal. and when I use voxl-streamer -c stereo, camera server fall FATAL error.

could you please check my log when I run voxl-streamer for stereo?

voxl:/$ voxl-camera-server
------ voxl-camera-server: Starting camera server
Started Camera: tracking
Started Camera: hires
Started Camera: stereo

------ voxl-camera-server: Camera server is now running
INFO: Camera stereo recieved much newer child than master (51), discarding master and trying again
INFO: Camera stereo recieved much newer child than master (146505), discarding master and trying again
INFO: Camera stereo recieved much newer child than master (146472), discarding master and trying again

voxl-camera-server FATAL: Recieved Fatal error from camera: stereo
	Error sending request 7, ErrorCode: -ENODEV
------ voxl-camera-server WARNING: Thread: tracking result thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: stereo request thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: stereo result thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: stereo_child result thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: stereo_child request thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: hires result thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: tracking request thread recieved ESTOP
------ voxl-camera-server WARNING: Thread: hires request thread recieved ESTOP

------ voxl-camera-server INFO: Camera server is now stopping
WARNING: Deleting buffers: 4 of 16 still in use
	Stopped Camera: tracking
WARNING: Deleting buffers: 4 of 16 still in use
	Stopped Camera: hires
WARNING: Deleting buffers: 3 of 16 still in use
	Stopped Camera: stereo

------ voxl-camera-server INFO: Camera server exited gracefully

this is my firmware

voxl:/$ voxl-version 
--------------------------------------------------------------------------------
system-image: 3.8.0
kernel:       #1 SMP PREEMPT Tue Apr 26 18:08:39 UTC 2022 3.18.71-perf
--------------------------------------------------------------------------------
hw version:   VOXL
--------------------------------------------------------------------------------
voxl-suite:   0.8.0
--------------------------------------------------------------------------------
voxl:/$

shlee853

I wonder CSI ports(J2,3,4) in VOXL is standard pin configuration or not.

If it's user defined pin out, how can I use commercial image sensor that not produced by modal AI.

I want to use another image sensor for tracking and stereo camera. So, I'm asking you about compatibility for commercial image sensor and connection.

Thanks,

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

Hi dev team,

I'm investigating source code for qvio, dfs-server.

As you can see the main code, it broadcast their image processing result using modal pipe server.

But, in the client code, it only get data result using modal pipe client, even it generates image stream.

How can I get streaming result for point cloud or qvio from server?

My meaning is not steal image, image stream like rtsp client.

If there are a few types of camera server such as camera node from voxl-camera-server result, point-cloud result from voxl-dfs-server or qvio result from voxl-qvio-server, how can client recognize which camera server matched with?

Thanks,

shlee853

Hi Alex Gardner,

when I build voxl-qvio-server, I found dependancies as bellow,

what is mv? and where can I find this library?

이미지 1.png

shlee853

@Alex-Gardner Thanks for your supports.

I realized voxl-docker s/w was updated 1 month ago.

I resolved this problem using newest voxl-docker.

swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git$ cd voxl-dfs-server
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-dfs-server$ ls
bash_completions  clean.sh        install_build_deps.sh  make_package.sh
build.sh          clients         install_on_voxl.sh     README.md
build_utils       CMakeLists.txt  ipk                    server
CHANGELOG         config          LICENSE                service
swift@swift-HP-Pavilion-dv6-Notebook-PC:~/git/voxl-dfs-server$ voxl-docker -i voxl-cross
launching image: voxl-cross with the following command:
docker run --rm -it --net=host --privileged -w /home/swift --volume=/dev/bus/usb:/dev/bus/usb -e LOCAL_USER_ID=0 -e LOCAL_USER_NAME=root -e LOCAL_GID=0 -v /home/swift/git/voxl-dfs-server:/home/root:rw -w /home/root voxl-cross /bin/bash -l

voxl-cross:~$ 
voxl-cross:~$ 
voxl-cross:~$ ./install_build_deps.sh stable
using stable repository
Downloading http://voxl-packages.modalai.com/stable/Packages.gz.
Updated source 'stable'.
Installing libmodal_pipe (2.0.7) on root.
Downloading http://voxl-packages.modalai.com/stable/libmodal_pipe_2.0.7.ipk.
Configuring libmodal_pipe.

Done installing libmodal_pipe

Installing libmodal_json (0.3.5) on root.
Downloading http://voxl-packages.modalai.com/stable/libmodal_json_0.3.5.ipk.
Configuring libmodal_json.

Done installing libmodal_json

Installing opencv (4.5.2) on root.
Downloading http://voxl-packages.modalai.com/stable/opencv_4.5.2-1.ipk.
Configuring opencv.

done installing opencv

voxl-cross:~$ ./build.sh 
-- The C compiler identification is GNU 5.4.0
-- The CXX compiler identification is GNU 5.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- 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/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build_utils/build
Scanning dependencies of target embedfile
[ 50%] Building C object CMakeFiles/embedfile.dir/src/embedfile.c.o
[100%] Linking C executable embedfile
[100%] Built target embedfile
-- 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
-- Configuring done
-- Generating done
-- Build files have been written to: /home/root/build64
[ 15%] Generating sobel_filter_kernel_code.c
[ 15%] Generating disparity_kernel_code.c
[ 15%] Generating compute_dsi_kernel_code.c
[ 21%] Generating blur_kernel_code.c
[ 26%] Generating sparse_census_transform_kernel_code.c
Scanning dependencies of target voxl-dfs-server
[ 31%] Building C object server/CMakeFiles/voxl-dfs-server.dir/undistort.c.o
[ 36%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/opencl_manager.cpp.o
[ 42%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/sad_disparity_estimation.cpp.o
[ 47%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/box_filter_blur.cpp.o
[ 52%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/dfs_processing_engine.cpp.o
[ 57%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/main.cpp.o
[ 63%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/opencl_kernel.cpp.o
[ 68%] Building CXX object server/CMakeFiles/voxl-dfs-server.dir/sobel_filter.cpp.o
[ 73%] Building C object server/CMakeFiles/voxl-dfs-server.dir/blur_kernel_code.c.o
[ 78%] Building C object server/CMakeFiles/voxl-dfs-server.dir/disparity_kernel_code.c.o
[ 84%] Building C object server/CMakeFiles/voxl-dfs-server.dir/compute_dsi_kernel_code.c.o
[ 89%] Building C object server/CMakeFiles/voxl-dfs-server.dir/sparse_census_transform_kernel_code.c.o
[ 94%] Building C object server/CMakeFiles/voxl-dfs-server.dir/sobel_filter_kernel_code.c.o
[100%] Linking CXX executable voxl-dfs-server
[100%] Built target voxl-dfs-server
voxl-cross:~$ 
voxl-cross:~$ 
voxl-cross:~$ 
voxl-cross:~$ ./make_package.sh 

Package Name:  voxl-dfs-server
version Number:  0.2.0
[100%] Built target voxl-dfs-server
Install the project...
-- Install configuration: "Release"
-- Installing: ../ipk/data/etc/systemd/system/voxl-dfs-server.service
-- Installing: ../ipk/data/usr/bin/voxl-dfs-server
/home/root
ar: creating voxl-dfs-server_0.2.0.ipk

DONE
voxl-cross:~$

Here is myvoxl-docker images

swift@swift-HP-Pavilion-dv6-Notebook-PC:~$ voxl-docker -l | grep "voxl"
voxl-cross       V1.1      77af6063e492   14 minutes ago   999MB
voxl-cross       latest    77af6063e492   14 minutes ago   999MB
voxl-emulator    V1.7      55d4f01b7bcd   7 weeks ago      3.33GB
voxl-emulator    latest    55d4f01b7bcd   7 weeks ago      3.33GB
voxl-hexagon     latest    8509f4e31f56   2 months ago     5.24GB
voxl-emulator    V1.5      323601eb49d7   4 months ago     3.2GB
swift@swift-HP-Pavilion-dv6-Notebook-PC:~$

Thanks,