I have already install the foxy.
I'm building ROS2 nodes now on a container on Vscode on my computer.
I want to push the build in the RB5 and run it their, just like building figure 8 out of the Rb5 and then push the build in the Rb5 to run it.
Do I have to push the whole container instance or just the src folder.
I pushed already the src folder via adb push, and it generated the error above.
Thanks
@Zachary-Lowell-0
I just pushed the src folder in the rb5 after the colcon in VSCode.
How do you do the following?
"
pushing your docker instance to the voxl2, then deploying the docker container, and running ros2 run command inside the docker container correct?
"
Best wishes,
Hi
Thank for your support.
I have used a docker environment in VsCode(ROS2-foxy + PX4).
I have colcon built a package, and I have pushed the build into the Rb5.
When running the ros2 run xx_pkg_py py_node
the code starts executing, then through an error regarding ros_idl.
Any help on this?
Is this to do with the pushing of the packages into the Rb5?
Here is the error:
rb5:/opt/ros/foxy/Fig8_pkg_py$ ros2 run figure8_py py_node
[INFO] [1745326367.028604419] [offboard_figure8_node]: (Qualcomm RB5):Offboard Figure 8 Node Alive!
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.6/site-packages/rosidl_generator_py/import_type_support_impl.py", line 46, in import_type_support
return importlib.import_module(module_name, package=pkg_name)
File "/usr/lib/python3.6/importlib/init.py", line 126, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 994, in _gcd_import
File "<frozen importlib._bootstrap>", line 971, in _find_and_load
File "<frozen importlib._bootstrap>", line 953, in _find_and_load_unlocked
ModuleNotFoundError: No module named 'px4_msgs.px4_msgs_s__rosidl_typesupport_c'
During handling of the above exception, another exception occurred:
Best wishes,
I have a motion capture system, and would like to send data from it to the RB5.
What are the required settings on the rb5?
Best wishes,
What kind of upgrade is necessary for this Rb5? Should we upgrade the sdk?
we can run ros2 foxy with it. The dds is also working.
How did you build this ros2 packages and nodes
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2
Thank you
Hi
I have the following Rb5
system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125
hw version: M0052
voxl-suite: 1.1.2
Question:
Which development environment is suitable to build ROS2 packages and nodes for the RB5?
I have listed the following environment so far
1)VScode ROS2 environment
2)Voxl-emulator
3)RB5-flight emulator
4)docker pull arm64v8/ros
Thanks
Hi,
We have the following Rb5:
system-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125
hw version: M0052
voxl-suite: 1.1.2
Here is our problem:
We have a mavlink based GCS and would like to get the position of the drone in the fixed frame defined by the QR-code like tags. We are connecting over port 14550, but can only get the PX4 local frame. The tag information is set in the tag locations file and the appropriate parameters in the voxl-vision-hub.conf are also set.
Question: How can we get the current position of the drone in the fixed frame defined by the tags, preferably over mavlink? We're assuming there's some extra config somewhere that we are missing, since clearly the incoming setpoints can be translated between the coordinate systems.
Thanks
Hi,
current IP: wlan0: 192.168.1.32
How to build-compile FOXY ROS2 packages and nodes for this RB5 ?
What kind of environment can be used to run colcon build to get ROS2 packages and nodes for the Rb5?
Thanks!
After flashing, I cannot connect to the QGC.
After setting up the IP address, I try to connect via UDP using the IP and port 14550, this is what I get
drone(connected) is the one not connecting to QGC.
And in the flashing process, which number should be chosen from this list:
Hi,
current IP: wlan0: 192.168.1.37
After flashing and setting up the IP address, I can ssh in the drone but I cannot connect to the drone to the QGC.
The port setting is 14550.
Any help on this?
Best wishes,
offboard mode:
The drone does NOT arm from the ROS2 command but it can be armed with the RC
3)rb5:~$ voxl-inspect-services
Scanning services...
4)/usr/bin/voxl-px4-start
Best wishes,
rb5:~$
Issue: When I run ros2 for figure 8 , I get the following output but the rb5 is not doing figure 8
rb5:~$ ros2 run voxl_offboard_figure8 voxl_offboard_figure8
[INFO] [1736938771.880330404] [offboard_figure8_node]: Offboard Figure 8 Node Alive!
[INFO] [1736938773.006198000] [offboard_figure8_node]: Switching to offboard mode
[INFO] [1736938773.010869569] [offboard_figure8_node]: Arm command sent
[INFO] [1736938781.907197594] [offboard_figure8_node]: Doing figure 8 now
[INFO] [1736938794.961756257] [offboard_figure8_node]: Switching to land mode
Any help on this is greatly appreciated.
Best wishes,
Please could you provide a simple example like arm() and disarm() or something similar to the offboard_control.cpp?
Best wishes,
Hi and sorry for the delayed response.
Main result : no response from the rb5
Comments: the offboard code example in cpp is running in Gazebo but I cannot get the drone to arm via ROS2 run px4_ros_com offboard_control.
This is the output from my terminal
~/ros2_ws$ ros2 run px4_ros_com offboard_control
Starting offboard control node...
[INFO] [1729601421.989530505] [offboard_control]: Arm command send
Notes: The offboard setting is "off" not "false" on the voxl-vision-hub.conf.
Do you have a recent tutorial on how to use ROS2 with the rb5?
Best wishes,
@tom
Hi Tom,
I have downloaded the src files from https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/tree/master/colcon_ws/src?ref_type=heads
Then I build with colcon build
The command "ros2 run voxl_offboard_figure8 voxl_offboard_figure8 " outputs the following while the rb5 is not responding at all
[INFO] [1727710160.087447748] [offboard_figure8_node]: Offboard Figure 8 Node Alive!
[INFO] [1727710161.215068375] [offboard_figure8_node]: Switching to offboard mode
[INFO] [1727710161.225198835] [offboard_figure8_node]: Arm command sent
[INFO] [1727710170.118029165] [offboard_figure8_node]: Doing figure 8 now
[INFO] [1727710183.178457539] [offboard_figure8_node]: Switching to land mode
Can someone update the short introduction to ROS2 usage with the rb5? Please.
@tahawaru said in Issue with ROS2 set-up, Deserialization of UORB Topics:
I'm having a similar error from running a ros2 command
rb5:~/colcon_ws$ ros2 run voxl_offboard_figure8 voxl_offboard_figure8
[INFO] [1723134293.283379373] [offboard_figure8_node]: Offboard Figure 8 Node Alive!
2024-08-08 16:24:53.442 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:53.950 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
[INFO] [1723134294.428290964] [offboard_figure8_node]: Switching to offboard mode
[INFO] [1723134294.428816835] [offboard_figure8_node]: Arm command sent
2024-08-08 16:24:54.452 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:54.951 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:55.452 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:55.961 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:56.461 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:56.971 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:57.482 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:57.988 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:58.488 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:58.998 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:24:59.507 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:25:00.016 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_change
2024-08-08 16:25:00.528 [SUBSCRIBER Error] Deserialization of data failed -> Function deserialize_changeMy Rb5 specs:
rb5:~/colcon_ws$ voxl-versionsystem-image: 1.7.1-M0052-14.1a-perf-nightly-20231025
kernel: #1 SMP PREEMPT Thu Oct 26 05:24:02 UTC 2023 4.19.125hw version: M0052
voxl-suite:
Packages:
Repo: http://voxl-packages.modalai.com/ ./dists/qrb5165/sdk-1.1/binary-arm64/
Last Updated: 2024-07-19 09:01:43
List:
libmodal-cv 0.4.0
libmodal-exposure 0.1.0
libmodal-journal 0.2.2
libmodal-json 0.4.3
libmodal-pipe 2.9.2
libqrb5165-io 0.4.2
libvoxl-cci-direct 0.2.1
libvoxl-cutils 0.1.1
mv-voxl 0.1-r0
qrb5165-bind 0.1-r0
...............
voxl-mavlink 0.1.1
voxl-mavlink-server 1.3.2
voxl-microdds-agent 2.4.1-0
voxl-modem 1.0.8
voxl-mongoose 7.7.0-1
voxl-mpa-to-ros 0.3.7
voxl-mpa-to-ros2 0.0.4
voxl-mpa-tools 1.1.3
voxl-neopixel-manager 0.0.3
voxl-opencv 4.5.5-2
voxl-portal 0.6.3
voxl-px4 1.14.0-2.0.63
voxl-px4-imu-server 0.1.2
voxl-px4-params 0.3.3
voxl-qvio-server 1.0.0
voxl-remote-id 0.0.9
voxl-ros2-foxy 0.0.1
voxl-streamer 0.7.4
voxl-tag-detector 0.0.4
voxl-tflite-server 0.3.1
voxl-utils 1.3.3
voxl-uvc-server 0.1.6
voxl-vision-hub 1.7.3There is no response from the drone.
I used the docker to build the ROS2 package following the instructions here roughly 2 months ago:
https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2
*****voxl-mpa-to-ros2$ docker load -i qrb5165-emulator-v1.5.tar.gz
voxl-mpa-to-ros2$ docker tag qrb5165-emulator:1.5 qrb5165-emulator:latest
voxl-mpa-to-ros2$ voxl-docker -i qrb5165-emulator
qrb5165-emulator:~(master)(0.0.4)$ ./install_build_deps.sh qrb5165 dev
qrb5165-emulator:~(master)(0.0.4)$ ./build.sh qrb5165
qrb5165-emulator:~(master)(0.0.4)$ ./make_package.sh*****
I installed the build on the rb5:
*****rb5:/$ cd home/root/
rb5:~$ dpkg -i voxl-mpa-to-ros2_0.0.4_arm64.deb
rb5:~$ voxl-configure-mpa-to-ros2
rb5:~$ source /opt/ros/foxy/mpa_to_ros2/install/setup.bash
rb5:~$ ros2 topic list
rb5:~$ source /opt/ros/foxy/setup.bash
rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node*****
---------------------------------After restart of the RB5
rb5:~$ ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2_node
Found new interface: hires_large_color
Found new interface: hires_large_encoded
Found new interface: hires_large_grey
Found new interface: hires_small_color
Found new interface: hires_small_encoded
Found new interface: hires_small_grey
Found new interface: hires_snapshot
Found new interface: qvio_overlay
Found new interface: stereo
Found new interface: tracking
Found new interface: imu_px4
Found new interface: voa_pc_out
Found new interface: vvhub_body_wrt_fixed
Found new interface: vvhub_body_wrt_local
Found new interface: qvio
I have the following on my .bashrc :
export ROS_HOME=/opt/ros/foxy
source /opt/ros/foxy/local_setup.bash
source /opt/ros/foxy/mpa_to_ros2/install/setup.bash
source /opt/ros/foxy/setup.bash
And the voxl-inspect-cam -a is as follows:
