ModalAI Forum

@tahawaru , you may want to investigate the PX4 documentation for using a motion capture system for flight : https://docs.px4.io/main/en/computer_vision/motion_capture.html . We have not done this type of testing, so may not be able to help. Alex

@Zachary-Lowell-0 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

You need to push the install folder as thats where the executables live in ros2 once you run colcon build. src folder is just the code you wrote with zero executables after colcon build is run.

@tom 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 [image: 1740736258690-e032a3a6-32d8-4b3f-9f56-dba442f9aaa4-image.png] drone(connected) is the one not connecting to QGC.

@Zachary-Lowell-0 offboard mode: [image: 1737382725235-d5d4a98e-4bf0-4aa7-baee-522cb331b4a7-image.png] The drone does NOT arm from the ROS2 command but it can be armed with the RC 3)rb5:~$ voxl-inspect-services Scanning services... [image: 1737382905455-bea8dc77-6e7c-4635-b0b0-c7b9a5ec7676-image.png] 4)/usr/bin/voxl-px4-start [image: 1737383495210-466822e7-ff3f-4c08-a6c4-780b619665d0-image.png] Best wishes,

@tahawaru also since you are running an RB5 and not a voxl2, the most recent SDK you are running is 1.1.3 which might have dependencies in modal-pipe or modal-json that are not transferable to the newest dev branch of voxl-mpa-to-ros2 causing some form of error somewhere in the pipeline.

@tahawaru It's just a change in the naming. Used to be platform, now is SDK. Go with the most recent SDK.

@tahawaru We have never tried that. But according to the Quectel product documentation it seems like it should be possible. Of course you would need to attach a suitable GNSS antenna to it. And if you want to use that with PX4 then you would need to create a new driver for it.

@tahawaru Okay, that shows you have 1.14.0-2.0.78. If you want to build 1.14.0-2.0.63 then you need to check that version out instead.

@tahawaru I like using Google Fi, super easy to setup

@tahawaru Here is some documentation on configuring VIO https://docs.modalai.com/flying-with-vio/ PX4 does not currently handle GPS and VIO concurrently. It is something that we have worked with the PX4 developers on for more than 2 years. It's a complicated problem though that we keep working to improve. To start experimenting, and hopefully helping to develop that feature, read through PX4's documentation on EKF2. To debug VIO, look to this area of the documentation specifically https://docs.modalai.com/flying-with-vio/#troubleshooting-vio

@Moderator I have followed the build instructions and got the voxl-mavlink-server built. I'm currently testing it with different ports (other than 14550). Thank you for your support.