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"

Hi @KnightHawk06. If you're looking for all the data stored in the ai_detection_t struct we've done it in the past by opening up a libmodal pipe to the tflite detection path defined like this:

#define TFLITE_DETECTION_PATH (MODAL_PIPE_DEFAULT_BASE_DIR "tflite_data/")

Let me know if that suits your needs and if you need help opening the pipe.

We recently ran into an issue with the VOXL2 where the servos weren't starting up every time connected via the M0065 expansion board. Found out it was because the VOXL wasn't supplying enough current to power the servos.

Fixed by powering the servos directly from the battery through a 5V UBEC.

Hi @taiwohazeez

Here's the instructions for installing the qrb5165 emulator

https://docs.modalai.com/Qualcomm-Flight-RB5-emulator/

@taiwohazeez Sorry maybe I'm misunderstanding. You can't run voxl-mpa-to-ros2 on your host computer regardless because it won't have access to either the libmodal pipe functions necessary to get the data from the VOXL nor the processes serving up that data.

If instead you mean your host computer should be able to receive ROS messages from voxl-mpa-to-ros2 on your VOXL over the network then that should work via the DDS,

Hi @taiwohazeez,

1. SDK 1.4.5 uses Ubuntu 18.04 which corresponds with ROS2 Foxy.

2. What're you trying to install from that link? The official guide for installing voxl-mpa-to-ros2 is here. Are you able to run voxl-mpa-to-ros2 via ros2 run voxl_mpa_to_ros2 voxl_mpa_to_ros2. If not, check that you ran the setup script source /opt/ros/foxy/mpa-to-ros2/install/setup.bash.

Best,
Ted

@george-kollamkulam

Where are you getting the image / ROS2 packages? Is this an image that ModalAI maintains?

Just looking at the error, it seems like it can't find the yaml-cpp package. It could be that it's not installed correctly or something's wrong in your CMakeLists.txt. It looks like the yaml-cpp readme has some info for including it in your CMake project.

If you're using camera_calibration_parsers from image common, it might be worth bringing the issue up there.

Let me know if that helps,
Ted

@george-kollamkulam

Hi,

1. ROS2 Melodic requires Ubuntu 20.04 and the VOXL runs Ubuntu 18.04. You could install ROS2 Foxy following this guide.

$ apt-get install voxl-ros2-foxy
$ source /opt/ros/foxy/local_setup.bash

2. Likewise you can't directly use ROS2 humble on the VOXL because it requires Ubuntu 22.04. We usually run ROS2 inside a docker container. Check out the prebuilt ROS2 images you can have as the base (https://hub.docker.com/_/ros/).

Let me know if that helps!

Ted

For anybody running into an issue with Ardupilot not starting up even while VOXL-PX4 is working, check your power module. You can check that Ardupilot isn't working properly by disabling all the services and running just voxl-ardupilot and voxl-mavlink-server as shown in the screenshots. Unlike PX4, Ardupilot will wait until it receives battery info so a broken power module causes it to stall forever.

This is what voxl-ardupilot output looks like with a broken power module:

This is what voxl-ardupilot output looks like with a working power module:

Hi @KnightHawk06. If you're looking for all the data stored in the ai_detection_t struct we've done it in the past by opening up a libmodal pipe to the tflite detection path defined like this:

#define TFLITE_DETECTION_PATH (MODAL_PIPE_DEFAULT_BASE_DIR "tflite_data/")

Let me know if that suits your needs and if you need help opening the pipe.

@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"