ModalAI Forum

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.

Running camera-test gives:

num_cameras = 1
Testing camera id=0
Segmentation fault

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 suggested roslaunch commands. There is a pause between libcam.dump.dir /data/misc/camera/dumps and ERROR: 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?

Yes. I get color images from the RTSP stream.

We do currently only have a single camera, connected to J2.

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:

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.

The change of port worked for me. Thank you for the help.

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.

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:

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:

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.