Hi @Gary-Holmgren. This is likely because you're running the build script from an x86 system (docker requires that you build on the same architecture as the base image, in this case arm64). You can solve that by cloning the repo onto the voxl and running build.sh from there.

Note: make sure your voxl has a wifi connection before running ./build.sh.

@GlennTee So that example requires you have the MicroDDS installed and running to communicate with PX4 (guide here).

Alternatively, you can run offboard commands via mavsdk (example here). If you do it this way, make sure to edit that example to connect on port 14551 and set en_localhost_mavlink_udp to true in 'etc/modalai/voxl-vision-hub.conf'.

Let me know if that helps.

@GlennTee What do you see when you run ros2 topic list?

Have you run "apt-get install voxl-ros2-foxy && apt-get install voxl-mpa-to-ros2" followed by "voxl-configure-mpa-to-ros2".

Similar issue that might be helpful

@GlennTee said in VOXL2/ROS2 Drone Runs Figure 8 Offboard Program Instead of My Program:

I thought I have reverted everything to how it was before, but the drone is now back to not flying at all. I also noticed that my list of ros2 topics has also shrunk down as well.

This likely means that those topics got populated from the offboard script not the px4-ros bridge. Could you check that voxl-microdds-agent is running when you see this happen.

Check with "voxl-inspect-services"

@teddy-zaremba Temporary fix by just installing missing package:

apt-get install -y libwayland-server0:arm64 libwayland-dev:arm64

Also have to install this for voxl-portal

apt-get install -y libglib2.0-0:arm64

Getting this linking error building any branch of voxl-portal or voxl-tflite-server:

"/usr/lib/gcc-cross/aarch64-linux-gnu/7/../../../../aarch64-linux-gnu/bin/ld: warning: libwayland-server.so.0, needed by //usr/lib/libgbm.so, not found (try using -rpath or -rpath-link)
//usr/lib/libgbm.so: undefined reference to `wl_resource_get_user_data'
collect2: error: ld returned 1 exit status
src/CMakeFiles/voxl-tflite-server.dir/build"

@GlennTee Great!

@claw @GlennTee voxl-px4 in SDK 1.1.2 is based off 1.14 so you should be building px4-msgs on branch release/1.14. Let me know if you're still running into issues after confirming this.

@claw Hi, sorry for the delay I'm testing this out. I believe you compiled the wrong version of PX4 mgs with your code but I'll find out the correct version and let you know today.

@GlennTee This looks fine to me if it's not running I'd suggest just restarting the service via "systemctl restart voxl-microdds-agent" and then double check that it's running with "voxl-inspect-services"

@GlennTee Can you run the command "voxl-microdds-agent" and share your output please?

@GlennTee said in VOXL2/ROS2 Drone Runs Figure 8 Offboard Program Instead of My Program:

I thought I have reverted everything to how it was before, but the drone is now back to not flying at all. I also noticed that my list of ros2 topics has also shrunk down as well.

This likely means that those topics got populated from the offboard script not the px4-ros bridge. Could you check that voxl-microdds-agent is running when you see this happen.

Check with "voxl-inspect-services"

Sure! Here's the link @tahawaru

@tahawaru Not sure if your use case allows this but we typically build off the arm64v8/ros:foxy docker image when writing ROS nodes on the voxl.