Best posts made by teddy.zaremba

Hi @Judoor-0,

That mavlink message will result in a vehicle_visual_odometry uORB see the two links below:

• https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.cpp#L1339
• https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_receiver.h#L329

If you go into the mavlink console and type "listener vehicle_visual_odometry" do you see messages with the data you're publishing? That's the first step.

The second step is getting that data to fuse. You'll need to worry about transforming the data to be in PX4's coordinate frame as well as 1.15.4 requires you publish real roll, pitch, yaw data not just 0s (does your MoCap system provide that?).

In the end you can check you've done everything correctly by listening to vehicle_local_position and seeing the output of your MoCap system.

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.

@teddy-zaremba EV_CTRL changed from 15 in 1.15 and earlier to 0 in 1.16. Either check this parameter is set to 15 or run "voxl-configure-px4-params -p MRB-D0006" for Starling V1 or "voxl-configure-px4-params -p MRB-D0005-V2" for Starling V2.

@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.