As you can see it is loading the proper configuration for the location of the tags and the camera to use (just the tracking camera) but the output is not showing the proper position in XYZ. I also checked that the voxl-vision-px4 package wasn't able to read the proper position of the tags using voxl-vision-px4 -p (like I did in the past) and this is the output:
yocto:~$ voxl-vision-px4 -p [404/869]
loading our own config file
=================================================================
Parameters as loaded from config file:
qgc_ip: 192.168.8.60
en_localhost_mavlink_udp 1
en_secondary_qgc: 0
secondary_qgc_ip: 192.168.1.214
qgc_udp_port_number: 14550
localhost_udp_port_number: 14551
udp_mtu: 512
en_vio: 1
en_voa: 0
en_send_vio_to_qgc: 0
en_send_voa_to_qgc: 0
en_set_clock_from_gps: 1
en_force_onboard_mav1_mode: 1
en_reset_px4_on_error: 1
qvio_auto_reset_quality: 0.000500
en_adsb: 0
adsb_uart_bus: 7
adsb_uart_baudrate: 57600
px4_uart_bus: 5
px4_uart_baudrate: 921600
offboard_mode: off
follow_tag_id: 0
en_tag_fixed_frame: 1
fixed_frame_filter_len: 5
en_transform_mavlink_pos_setpoints_from_fixed_frame:1
=================================================================
loading extrinsics config file
exising instance of voxl-vision-px4 found, attempting to stop it
starting geometry module
starting px4 monitor
starting uart mavlink
Successfully opened mavparser
Detected PX4 Mavlink SYSID 106
starting udp mavlink
Adding manual QGC IP address to udp connection list: 192.168.8.60
Added new UDP connection to 192.168.8.60
starting px4 shell
starting fixed pose input
starting vio manager
starting tag manager
Init complete, entering main loop
Connected to voxl-tag-detector
Connected to voxl-qvio-server
done updating transforms to use imu: imu1
T_body_wrt_fixed: -0.00 0.00 -0.10 RPY: -0.00 -0.04 -0.00
PX4 Connected over UART with sysid 106
T_body_wrt_fixed: -0.00 0.00 -0.10 RPY: -0.00 -0.04 -0.00
T_body_wrt_fixed: -0.00 0.00 -0.10 RPY: -0.00 -0.04 -0.00
T_body_wrt_fixed: -0.00 0.00 -0.10 RPY: -0.00 -0.04 -0.00
T_body_wrt_fixed: -0.00 0.00 -0.10 RPY: -0.00 -0.04 -0.00
T_body_wrt_fixed: -0.00 0.00 -0.10 RPY: -0.00 -0.04 -0.00
detected system time has already been set
T_body_wrt_fixed: -0.00 0.00 -0.10 RPY: -0.00 -0.04 0.00
T_body_wrt_fixed: -0.00 0.00 -0.10 RPY: 0.00 -0.04 0.00
T_body_wrt_fixed: -0.01 0.01 -0.10 RPY: 0.00 -0.03 0.00
T_body_wrt_fixed: -0.01 0.01 -0.10 RPY: 0.00 -0.03 0.00
T_body_wrt_fixed: -0.01 0.01 -0.10 RPY: 0.00 -0.03 0.00
T_body_wrt_fixed: -0.01 0.01 -0.10 RPY: 0.00 -0.03 0.00
T_body_wrt_fixed: -0.01 0.01 -0.10 RPY: 0.00 -0.03 0.00
T_body_wrt_fixed: -0.01 0.01 -0.10 RPY: 0.00 -0.03 0.00
T_body_wrt_fixed: -0.01 0.02 -0.10 RPY: -0.00 -0.03 0.00
T_body_wrt_fixed: -0.01 0.02 -0.10 RPY: -0.00 -0.03 0.00
T_body_wrt_fixed: -0.01 0.02 -0.10 RPY: -0.01 -0.02 0.00
T_body_wrt_fixed: -0.02 0.02 -0.10 RPY: -0.01 -0.02 0.00
T_body_wrt_fixed: -0.02 0.01 -0.10 RPY: -0.01 -0.02 0.00
T_body_wrt_fixed: -0.02 0.01 -0.10 RPY: -0.03 -0.02 0.00
T_body_wrt_fixed: -0.02 0.01 -0.10 RPY: -0.03 -0.02 0.00
T_body_wrt_fixed: -0.02 0.01 -0.10 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.03 0.00 -0.09 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.03 0.00 -0.09 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.03 0.00 -0.09 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.03 0.00 -0.09 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.04 -0.00 -0.09 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.04 -0.00 -0.09 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.04 -0.00 -0.09 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.04 -0.00 -0.09 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.05 -0.01 -0.09 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.05 -0.01 -0.08 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.05 -0.01 -0.08 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.06 -0.01 -0.08 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.06 -0.01 -0.08 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.06 -0.01 -0.08 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.07 -0.01 -0.08 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.07 -0.01 -0.08 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.07 -0.01 -0.07 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.08 -0.01 -0.07 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.08 -0.02 -0.07 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.08 -0.02 -0.07 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.09 -0.02 -0.07 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.09 -0.02 -0.06 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.09 -0.02 -0.06 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.10 -0.02 -0.06 RPY: -0.03 -0.03 -0.00
T_body_wrt_fixed: -0.10 -0.02 -0.06 RPY: -0.03 -0.02 -0.00
T_body_wrt_fixed: -0.11 -0.02 -0.06 RPY: -0.03 -0.02 -0.00
T_body_wrt_fixed: -0.11 -0.02 -0.06 RPY: -0.02 -0.02 -0.00
T_body_wrt_fixed: -0.11 -0.02 -0.06 RPY: -0.02 -0.02 -0.00
T_body_wrt_fixed: -0.12 -0.02 -0.06 RPY: -0.02 -0.02 -0.00
T_body_wrt_fixed: -0.12 -0.02 -0.05 RPY: -0.02 -0.02 -0.00
T_body_wrt_fixed: -0.12 -0.02 -0.05 RPY: -0.02 -0.02 -0.00
T_body_wrt_fixed: -0.13 -0.02 -0.05 RPY: -0.02 -0.02 -0.00
T_body_wrt_fixed: -0.13 -0.02 -0.05 RPY: -0.02 -0.02 -0.00
T_body_wrt_fixed: -0.14 -0.02 -0.05 RPY: -0.02 -0.02 -0.00
T_body_wrt_fixed: -0.14 -0.02 -0.05 RPY: -0.02 -0.02 -0.00
T_body_wrt_fixed: -0.14 -0.02 -0.05 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.15 -0.02 -0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.15 -0.02 -0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.16 -0.02 -0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.16 -0.02 -0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.16 -0.02 -0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.17 -0.02 -0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.17 -0.02 -0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.18 -0.02 -0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.18 -0.02 -0.03 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.19 -0.02 -0.03 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.19 -0.02 -0.03 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.20 -0.02 -0.03 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.20 -0.02 -0.03 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.21 -0.02 -0.03 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.21 -0.01 -0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.22 -0.01 -0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.22 -0.01 -0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.23 -0.01 -0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.23 -0.01 -0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.24 -0.01 -0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.25 -0.01 -0.01 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.25 -0.01 -0.01 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.26 -0.01 -0.01 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.26 -0.01 -0.01 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.27 -0.01 -0.00 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.27 -0.01 -0.00 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.28 -0.01 -0.00 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.28 -0.01 0.00 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.29 -0.01 0.00 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.30 -0.01 0.01 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.30 -0.01 0.01 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.31 -0.01 0.01 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.31 -0.01 0.01 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.32 -0.00 0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.33 -0.00 0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.33 -0.00 0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.34 -0.00 0.02 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.35 -0.00 0.03 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.35 -0.00 0.03 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.36 -0.00 0.03 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.37 0.00 0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.37 0.00 0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.38 0.00 0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.39 0.00 0.04 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.39 0.00 0.05 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.40 0.00 0.05 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.41 0.01 0.05 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.41 0.01 0.05 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.42 0.01 0.06 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.43 0.01 0.06 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.44 0.01 0.06 RPY: -0.02 -0.01 -0.00
T_body_wrt_fixed: -0.44 0.01 0.07 RPY: -0.02 -0.01 -0.00
VIO reported failure
T_body_wrt_fixed: -0.42 0.01 0.05 RPY: -0.02 -0.02 0.00
T_body_wrt_fixed: -0.42 0.01 0.05 RPY: -0.02 -0.02 0.00
And I get the same behaviour, no proper read of apriltags. After running both packages I see the services are not running.
I have also checked the VIO executing voxl-inspect-qvio and everything seems ok.
Do you think it could be a problem of the calibration of the camera?
Maybe I'm missing other configuration but I achieved this point in the past so I'm not sure what could be happing.
I would really appreciate some advise. Thank you!