The change of port worked for me. Thank you for the help.
Best posts made by vaughanje
Latest posts made by vaughanje
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RE: voxl-cam-ros
Sorry for the slight delay. I was finally able to get back to this this morning. Killing
voxl-rtsp
fixed this issue.voxl-cam-ros
will launch without issue. Thank you for the help. -
RE: voxl-cam-ros
Running
camera-test
gives:num_cameras = 1 Testing camera id=0 Segmentation fault
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RE: voxl-cam-ros
Thanks for the help.
I reverted to using the hires + tracking option. So, the current output of
voxl-env show
is:ROS_MASTER_URI=http://localhost:11311/ ROS_IP=192.168.8.1 CAM_CONFIG_ID=4 HIRES_CAM_ID=0 TRACKING_CAM_ID=1 STEREO_CAM_ID=-1 TOF_CAM_ID=-1
The RTSP stream is running, so I used the
is_cam_master:=false
version of the suggestedroslaunch
commands. There is a pause betweenlibcam.dump.dir /data/misc/camera/dumps
andERROR: could not open camera subscriber for cam id 0
.SUMMARY ======== PARAMETERS * /hires/voxl_cam_nodelet/cam_id: 0 * /hires/voxl_cam_nodelet/cam_name: hires * /hires/voxl_cam_nodelet/format: 1 * /hires/voxl_cam_nodelet/frame_id: hires_frame * /hires/voxl_cam_nodelet/frame_rate: 15 * /hires/voxl_cam_nodelet/height: 1080 * /hires/voxl_cam_nodelet/is_cam_master: False * /hires/voxl_cam_nodelet/skip_n_frames: 0 * /hires/voxl_cam_nodelet/width: 1920 * /hires/voxl_cam_nodelet/yuv_remap: yuv422 * /rosdistro: indigo * /rosversion: 1.11.21 NODES /hires/ hires_nodelet_manager (nodelet/nodelet) voxl_cam_nodelet (nodelet/nodelet) auto-starting new master process[master]: started with pid [4890] ROS_MASTER_URI=http://localhost:11311/ setting /run_id to da98c2d4-1dd3-11b2-913f-ec5c68cd238b process[rosout-1]: started with pid [4903] started core service [/rosout] process[hires/hires_nodelet_manager-2]: started with pid [4916] process[hires/voxl_cam_nodelet-3]: started with pid [4921] [ INFO] [764.624133042]: Initializing nodelet with 4 worker threads. [ INFO] [764.819000074]: SnapCamDriver Starting [ INFO] [764.819231792]: Monotonic offset: 1.670465990 libcam.enable.publish 1 libcam.enable.publish.dump 0 libcam.publish.buffer.policy max libcam.publish.buffer.max 3 libcam.debug.level info libcam.dump.dir /data/misc/camera/dumps ERROR: could not open camera subscriber for cam id 0 [ERROR] [781.824676109]: CameraManager::Initialize() failed [ERROR] [781.825179598]: Unable to open camera.
Any ideas?
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RE: voxl-cam-ros
Yes. I get color images from the RTSP stream.
We do currently only have a single camera, connected to J2.
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RE: voxl-cam-ros
The content of
voxl-env show
is:ROS_MASTER_URI=http://localhost:11311/ ROS_IP=192.168.8.1 CAM_CONFIG_ID=2 HIRES_CAM_ID=-1 TRACKING_CAM_ID=0 STEREO_CAM_ID=-1 TOF_CAM_ID=-1
This was after running
voxl-configure-cameras
to change to the tracking camera only configuration. However, given that the camera is connected to J2, should I use the hires camera? I'm basing this question on the information here:https://docs.modalai.com/voxl-flight-quickstart/
which reports the J2 connector as the hires camera. Should I use a hires camera configuration? I have tried both without success, but if I'm asking to make sure that I do have the correct camera configuration. That would help me narrow the issue on my side.
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voxl-cam-ros
I'm currently working on a VOXL Flight-based system. The forward facing camera is connected to the J2 port on the VOXL. I am able to get a stream from it in QgroundControl, but cannot seem to get the
voxl_cam_ros
package to run. It never connects to the camera, so the node fails after a timeout. I've tried a variety of options when running roslaunch, but with no success.Is there anything obvious that I might be missing? Common mistakes that I should check that I'm not making?
The output of
voxl-version
is:-------------------------------------------------------------------------------- system-image: ModalAI 2.2.0 BUILDER: ekatzfey BUILD_TIME: 2020-01-28_23:54 kernel: #1 SMP PREEMPT Tue Jan 28 23:55:02 UTC 2020 3.18.71-perf factory-bundle: 0.0.5 sw-bundle: 0.0.5 -------------------------------------------------------------------------------- architecture: aarch64 processor: apq8096 os: GNU/Linux -------------------------------------------------------------------------------- voxl-utils: Package: voxl-utils Version: 0.4.6 Status: install user installed Architecture: aarch64 Installed-Time: 246 --------------------------------------------------------------------------------
Thank you.
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mavros
On my VOXL Flight setup, I'm having trouble getting the Docker ROS image to communicate with the VOXL. I'm following the instructions from this link:
https://docs.modalai.com/mavros/
I changed the parameters in the
/etc/modalai/voxl-vision-px4.conf
file to include:"en_localhost_mavlink_udp": true,
I am able to communicate with the Docker image and can publish and subscribe to messages from it. I do see all the mavros topics, from inside the docker container, on the "native" VOXL shell, and from my remote computer connected over WiFi or via our MicroHard radio. However, the
/mavros/state
message indicates that there is no connection.rostopic echo /mavros/state
gives only one message:header: seq: 0 stamp: secs: 2228 nsecs: 862914984 frame_id: '' connected: False armed: False guided: False manual_input: False mode: '' system_status: 0 ---
The last messages on running
./run_mavros.sh
from inside the Docker container are:... ... [ INFO] [732.234354982]: Known MAVLink dialects: common ardupilotmega ASLUAV autoquad icarous matrixpilot paparazzi slugs standard uAvionix ualberta [ INFO] [732.234448888]: MAVROS started. MY ID 1.240, TARGET ID 1.1
I also found this article about the MAVlink SDK and how to setup local communication:
https://gitlab.com/voxl-public/voxl-docker-images/voxl-docker-mavsdk-python
Given the version of the VOXL software on the system, it seems that we need this in
/etc/modalai/voxl-vision-px4.conf
instead of the above option:"en_secondary_qgc": true, "secondary_qgc_ip": "127.0.0.1",
However, that did not work either. I get the same type message from
rostopic echo
-ing/mavros/state
.I am able to plug into the FCU via USB and run mavros, by specifying the correct serial port on launch.
The output of
voxl-version
for my current setup is:-------------------------------------------------------------------------------- system-image: ModalAI 2.2.0 BUILDER: ekatzfey BUILD_TIME: 2020-01-28_23:54 kernel: #1 SMP PREEMPT Tue Jan 28 23:55:02 UTC 2020 3.18.71-perf factory-bundle: 0.0.5 sw-bundle: 0.0.5 -------------------------------------------------------------------------------- architecture: aarch64 processor: apq8096 os: GNU/Linux -------------------------------------------------------------------------------- voxl-utils: Package: voxl-utils Version: 0.4.6 Status: install user installed Architecture: aarch64 Installed-Time: 246 --------------------------------------------------------------------------------
Any help or direction on what to check next is greatly appreciated.