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    voxl-phoenix

    @voxl-phoenix

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    Latest posts made by voxl-phoenix

    • Exploration with voxl-mapper.

      Hi, I have setup the voxl-mapper on my VOXL 2 with TOF camera. I have tested figure 8 and trajectory following. They are working perfectly.

      I would like to know how can I send the goal/ trajectory setpoints to the voxl-mapper to use rrt* to create the trajectory and to follow that.

      I don't think I can just send it to /fmu/in/trajectory_setpoint, can I?

      thanks in advance.

      posted in Mapping and Planning
      voxl-phoenixV
      voxl-phoenix
    • VOXL 2 not booting

      I'm using VOXL2 I have connected the coax board to the voxl . when I screw the board on the drone firmly. the voxl boots up and works fine but I loose connection often. when I unscrew the voxl 2 and try to boot it. it doesn't boot. I have tried installing new SDK and downgrading it. no affect.
      this behaviour is very weard I can't understand what is going on and what could be the reason.WhatsApp Image 2025-03-25 at 01.05.03.jpeg

      posted in VOXL 2 voxl2 camera module
      voxl-phoenixV
      voxl-phoenix
    • RE: Hires cam not working with voxl2

      @Alex-Kushleyev I have got this camera two days back and I have connected it and tested them both they, worked fine. I had to unbrick my board so I unbricked it and installed new SDK 1.4.1.

      It was working fine before and after installation. I have just disconnected the camera and conected it again, because I was installing it in the holder that I 3D printed, just before installing I have tested it once, it is not working since than. only once I have disconnected the cable and connected it again, it stopped working. I have checked there is no damage to cables or board. I have handled them properly.

      posted in VOXL 2
      voxl-phoenixV
      voxl-phoenix
    • RE: Hires cam not working with voxl2

      @Alex-Kushleyev

      Thank you @Alex-Kushleyev
      This is the output from my voxl-inspect-cam -a

      |                Pipe Name |  bytes  | wide |  hgt |exp(ms)| gain | frame id |lt
      |                 tof_conf |   43200 |  180 |  240 |  2.70 |    0 |     2824 | 8
      |                tof_depth |   43200 |  180 |  240 |  2.70 |    0 |     2824 | 8
      |                   tof_ir |   43200 |  180 |  240 |  2.70 |    0 |     2824 | 8
      |           tracking_front | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
      |     tracking_front_bayer | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
      | tracking_front_misp_grey | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
      | tracking_front_misp_norm | 1024000 | 1280 |  800 | 12.00 | 1596 |     8926 | 8
      
      

      This is the output when I run voxl-camera-server.

      voxl-camera-server 
      existing instance of voxl-camera-server found, attempting to stop it
      MISP awb str: auto
      Setting MISP AWB to Autodetected system image 1.8.2
      using new imx412 defaults
      MISP awb str: auto
      Setting MISP AWB to Auto=================================================================
      configuration for 4 cameras:
      
      cam #0
          name:                tracking_front
          sensor type:         ar0144
          isEnabled:           1
          camId:               0
          camId2:              -1
          fps:                 30
          en_rotate:           1
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           1280
          pre_height:          800
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
      
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
      
          en_misp:             1
          misp_width:          1280
          misp_height:         800
      
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
      
          ae_mode:             lme_msv
          msv_exposure_min_us: 20
          msv_exposure_max_us: 12000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      
      cam #1
          name:                hires
          sensor type:         imx412
          isEnabled:           1
          camId:               1
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          0
          pre_width:           640
          pre_height:          480
          en_raw_preview:      0
      
          en_small_video:      1
          small_video_width:   1024
          small_video_height:  768
      
          en_large_video:      1
          large_video_width:   4056
          large_video_height:  3040
      
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
      
          en_snapshot:         1
          snap_width:          4056
          snap_height:         3040
          exif_focal_length:   3.100000
          exif_focal_len_35mm_format:17
          exif_fnumber:        1.240000
      
          ae_mode:             isp
          msv_exposure_min_us: 20
          msv_exposure_max_us: 33000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      
      cam #2
          name:                tof
          sensor type:         pmd-tof-liow2
          isEnabled:           1
          camId:               2
          camId2:              -1
          fps:                 10
          en_rotate:           1
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           240
          pre_height:          1629
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
      
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
      
          en_misp:             0
          misp_width:          -1
          misp_height:         -1
      
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
      
          ae_mode:             off
          msv_exposure_min_us: 0
          msv_exposure_max_us: 6000
          gain_min           : 0
          gain_max           : 0
          standby_enabled:     0
          decimator:           5
          independent_exposure:0
      
      cam #3
          name:                tracking_down
          sensor type:         ar0144
          isEnabled:           1
          camId:               3
          camId2:              -1
          fps:                 30
          en_rotate:           0
          en_rotate2:          0
      
          en_preview:          1
          pre_width:           1280
          pre_height:          800
          en_raw_preview:      1
      
          en_small_video:      0
          small_video_width:   -1
          small_video_height:  -1
      
          en_large_video:      0
          large_video_width:   -1
          large_video_height:  -1
      
          en_misp:             1
          misp_width:          1280
          misp_height:         800
      
          en_snapshot:         0
          snap_width:          -1
          snap_height:         -1
          exif_focal_length:   0.000000
          exif_focal_len_35mm_format:0
          exif_fnumber:        0.000000
      
          ae_mode:             lme_msv
          msv_exposure_min_us: 20
          msv_exposure_max_us: 12000
          gain_min           : 54
          gain_max           : 8000
          standby_enabled:     0
          decimator:           1
          independent_exposure:0
      
      fsync_en:            1
      fsync_gpio:          109
      =================================================================
      thread is locked to cores: 4 5 6 7
      connected to mavlink pipe
      Connected to cpu-monitor
      Starting Camera: tracking_front (id #0)
      gbm_create_device(156): Info: backend name is: msm_drm
      MISP Initializing!!!
       Detected 1 platform(s)
       Detected 1 GPU device(s)
      Starting Camera: hires (id #1)
      ERROR:   Camera 1 failed to find supported stream config: 1024x768
      WARNING: Failed to start cam hires due to invalid resolution
      WARNING: assuming cam is missing and trying to compensate
      Starting Camera: tof (originally id #2) with id offset: 1
      Starting Camera: tracking_down (originally id #3) with id offset: 1
      WARNING: cam tracking_down (id 2) does not seem to be alive
      
      ------ voxl-camera-server: Started 2 of 4 cameras
      
      ------ voxl-camera-server: Camera server is now running
      camera tracking_front frame size: 1024000 (1540096 alloc).. raw bpp: 8
      WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 10223 frame(s).
      WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 10223 frames dropped, FC 0 frames dropped, 9 frames delivered.
      WARNING: [ROYALE_WARNING] {ROYALE_FRAME_DROP}: Dropped 9 frame(s).
      WARNING: [ROYALE_WARNING] {ROYALE_RAW_FRAME_STATS}: Raw frame drop stats: Bridge 9 frames dropped, FC 0 frames dropped, 81 frames delivered.
      ^C
      received SIGINT Ctrl-C
      
      ------ voxl-camera-server: Camera server is now stopping
      WARNING: Deleting buffers: 6 of 16 still in use
      WARNING: Deleting buffers: 6 of 16 still in use
      
      ------ voxl-camera-server: Camera server exited gracefully, returning 0
      
      
      

      this is my voxl sdk info

      voxl2:~$ voxl-version 
      --------------------------------------------------------------------------------
      system-image: 1.8.02-M0054-14.1a-perf
      kernel:       #1 SMP PREEMPT Mon Nov 11 22:47:44 UTC 2024 4.19.125
      --------------------------------------------------------------------------------
      hw platform:  M0054
      mach.var:     1.0.1
      --------------------------------------------------------------------------------
      voxl-suite:   1.4.3
      --------------------------------------------------------------------------------
      Packages:
      
      

      5459cf57-ddf0-4dc7-9473-e57c44cde652-image.png

      d0567585-033c-4f56-a57a-d6954b50c545.jpeg

      Thank you for help.

      posted in VOXL 2
      voxl-phoenixV
      voxl-phoenix
    • RE: Hires cam not working with voxl2

      @Alex-Kushleyev I have only three cameras one TOF, Tracking, Hires each. TOF and Tracking are working properly.

      for calibration I',m just calibrating Tracking camera with fish eye

      voxl-calibrate-cameras -f -s 8x5 -l 0.029
      

      it is trying to calibrate extrinsics automatically.

      posted in VOXL 2
      voxl-phoenixV
      voxl-phoenix
    • RE: Hires cam not working with voxl2

      @Alex-Kushleyev

      sorry for the trouble, but I can't get my head around why this is happening,

      voxl2:~$ ls /usr/lib/camera/*sensormodule*
      /usr/lib/camera/com.qti.sensormodule.ar0144_combo_0.bin
      /usr/lib/camera/com.qti.sensormodule.ar0144_combo_6.bin
      /usr/lib/camera/com.qti.sensormodule.imx412_fpv_1.bin
      /usr/lib/camera/com.qti.sensormodule.irs2975c_3.bin
      voxl2:~$
      

      is there any chance my SDK installation might be corrupt. I have tried using 1.4.1 and 1.4.0.

      posted in VOXL 2
      voxl-phoenixV
      voxl-phoenix
    • RE: Hires cam not working with voxl2

      @Alex-Kushleyev
      Yeah I did follow the exact camera connections given on C26 configuration except that I don't have a down tracking camera. everything else is same. It's weird that it worked at start and than no response at all.

      posted in VOXL 2
      voxl-phoenixV
      voxl-phoenix
    • RE: Hires cam not working with voxl2

      @Alex-Kushleyev Thank you for the advise , I have been using the kernal image which includes M0173 breakout board.

      voxl2:~$ voxl-camera-server -l
      existing instance of voxl-camera-server found, attempting to stop it
      DEBUG:   Attempting to open the hal module
      DEBUG:   SUCCESS: Camera module opened on attempt 0
      DEBUG:   ----------- Number of cameras: 2
      
      DEBUG:   Cam idx: 0, Cam slot: 0, Slave Address: 0x0030, Sensor Id: 0x0356
      DEBUG:   Cam idx: 1, Cam slot: 3, Slave Address: 0x007A, Sensor Id: 0x2975
      DEBUG:   Note: This list comes from the HAL module and may not be indicative
      DEBUG:   	of configurations that have full pipelines
      
      DEBUG:   Number of cameras: 2
      
      
      ====================================
      Stats for camera: 0
      
      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
      These are likely supported by the sensor
      1280 x  800
      1280 x  800
      
      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
      These are NOT necessarily supported by the sensor
      1280 x  800 HAL_PIXEL_FORMAT_YCbCr_420_888
      1280 x  800 HAL_PIXEL_FORMAT_BLOB
      1280 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
      1280 x  768 HAL_PIXEL_FORMAT_BLOB
      1280 x  720 HAL_PIXEL_FORMAT_YCbCr_420_888
      1280 x  720 HAL_PIXEL_FORMAT_BLOB
      1024 x  738 HAL_PIXEL_FORMAT_YCbCr_420_888
      1024 x  738 HAL_PIXEL_FORMAT_BLOB
      1024 x  768 HAL_PIXEL_FORMAT_YCbCr_420_888
      1024 x  768 HAL_PIXEL_FORMAT_BLOB
       864 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
       864 x  480 HAL_PIXEL_FORMAT_BLOB
       800 x  600 HAL_PIXEL_FORMAT_YCbCr_420_888
       800 x  600 HAL_PIXEL_FORMAT_BLOB
       800 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
       800 x  480 HAL_PIXEL_FORMAT_BLOB
       720 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
       720 x  480 HAL_PIXEL_FORMAT_BLOB
       640 x  512 HAL_PIXEL_FORMAT_YCbCr_420_888
       640 x  512 HAL_PIXEL_FORMAT_BLOB
       640 x  480 HAL_PIXEL_FORMAT_YCbCr_420_888
       640 x  480 HAL_PIXEL_FORMAT_BLOB
       640 x  400 HAL_PIXEL_FORMAT_YCbCr_420_888
       640 x  400 HAL_PIXEL_FORMAT_BLOB
       640 x  360 HAL_PIXEL_FORMAT_YCbCr_420_888
       640 x  360 HAL_PIXEL_FORMAT_BLOB
       352 x  288 HAL_PIXEL_FORMAT_YCbCr_420_888
       352 x  288 HAL_PIXEL_FORMAT_BLOB
       320 x  240 HAL_PIXEL_FORMAT_YCbCr_420_888
       320 x  240 HAL_PIXEL_FORMAT_BLOB
       240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
       240 x  320 HAL_PIXEL_FORMAT_BLOB
       176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
       176 x  144 HAL_PIXEL_FORMAT_BLOB
      1280 x  800 HAL_PIXEL_FORMAT_RAW10
      1280 x  800 HAL_PIXEL_FORMAT_RAW12
      1280 x  800 HAL_PIXEL_FORMAT_RAW16
      1280 x  800 HAL_PIXEL_FORMAT_RAW_OPAQUE
      
      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
      	min = 54
      	max = 1596
      
      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
      	1596
      
      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
      	min = 0ns
      	max = 1318629735ns
      
      
      ====================================
      Stats for camera: 1
      
      ANDROID_SCALER_AVAILABLE_RAW_SIZES:
      These are likely supported by the sensor
       240 x 1629
      
      ANDROID_SCALER_AVAILABLE_STREAM_CONFIGURATIONS:
      These are NOT necessarily supported by the sensor
       240 x  320 HAL_PIXEL_FORMAT_YCbCr_420_888
       240 x  320 HAL_PIXEL_FORMAT_BLOB
       176 x  144 HAL_PIXEL_FORMAT_YCbCr_420_888
       176 x  144 HAL_PIXEL_FORMAT_BLOB
       240 x 1629 HAL_PIXEL_FORMAT_RAW10
       240 x 1629 HAL_PIXEL_FORMAT_RAW12
       240 x 1629 HAL_PIXEL_FORMAT_RAW16
       240 x 1629 HAL_PIXEL_FORMAT_RAW_OPAQUE
      
      ANDROID_SENSOR_INFO_SENSITIVITY_RANGE
      	min = 54
      	max = 0
      
      ANDROID_SENSOR_MAX_ANALOG_SENSITIVITY
      	0
      
      ANDROID_SENSOR_INFO_EXPOSURE_TIME_RANGE
      	min = 0ns
      	max = 0ns
      
      ====================================
      Number of cameras detected: 2
      ====================================
      voxl2:~$ voxl-version | grep mach
      mach.var:     1.0.1
      voxl2:~$ 
      
      

      I have TOF, tracking and Hires connected to the board it worked fine as soon as connected for first time than I can see no response from Hires but Tracking and TOF are working properly.

      posted in VOXL 2
      voxl-phoenixV
      voxl-phoenix
    • Hires cam not working with voxl2

      I'm using a VOXL 2 flight controller with an M0173 Starling 2 Front End. The setup includes tracking camera, PMD TOF and a high-resolution (hires) IMX412 camera. While the tracking cameras and TOF are detected and functioning, I'm unable to get any response from the hires camera.

      I have tried reconnnecting camera again and reinstalled SDK. and downgraded to SDK 1.4.0.

      when I connected them first it worked properly and I havr disconnected the cable and connected again , it is not showing at all. I have checked reconnecting the cable properly multiple times. I even tried swapping Tracking cable to Hires but no use.

      Error I have got from voxl-camera-server

      fsync_en:            1
      fsync_gpio:          109
      =================================================================
      thread is locked to cores: 4 5 6 7
      connected to mavlink pipe
      Connected to cpu-monitor
      Starting Camera: tracking_front (id #0)
      gbm_create_device(156): Info: backend name is: msm_drm
      MISP Initializing!!!
       Detected 1 platform(s)
       Detected 1 GPU device(s)
      Starting Camera: hires (id #1)
      ERROR:   Camera 1 failed to find supported stream config: 1024x768
      WARNING: Failed to start cam hires due to invalid resolution
      WARNING: assuming cam is missing and trying to compensate
      Starting Camera: tof (originally id #2) with id offset: 1
      Starting Camera: tracking_down (originally id #3) with id offset: 1
      WARNING: cam tracking_down (id 2) does not seem to be alive
      
      ------ voxl-camera-server: Started 2 of 4 cameras
      
      ------ voxl-camera-server: Camera server is now running
      

      please suggest me any fixes for this.

      My SKU is :

      family code: MCCA-M0054 (voxl2-board-only)
      compute board: 4 (voxl2)
      hw version: 1
      cam config: 26
      modem config: ()
      tx config: ()
      extras config: ()
      SKU: MCCA-M0054-C26-T0-M0-X0

      this is my voxl-camera-server.config file

      cat /etc/modalai/voxl-camera-server.conf 
      /**
       * voxl-camera-server Configuration File
       *
       * Each camera has configurations for up to 4 HAL3 streams:
       *    - `preview` stream for raw unprocessed images from CV cameras
       *    - `small_video` 720p (ish) h264/h265 compressed for fpv video streaming
       *    - `large_video` 4k (ish) h264/h265 for onboard video recording to disk
       *    - `snapshot` ISP-processed JPG snapshots that get saved to disk
       *
       * on QRB5165 platforms (VOXL2 and VOXL2 mini) you can only have 3 of the 4 enabled
       *
       * This file is generated from default values by voxl-configure-cameras.
       * Do not expect arbitrary resolutions to work, the ISP and video compression
       * pipelines only support very specific resolutions.
       *
       * The default video compression mode is cqp or Constant Quantization Parameter
       *
       *
       *
       */
      {
      	"version":	0.1,
      	"fsync_en":	true,
      	"fsync_gpio":	109,
      	"cameras":	[{
      			"type":	"ar0144",
      			"name":	"tracking_front",
      			"enabled":	true,
      			"camera_id":	0,
      			"fps":	30,
      			"en_rotate":	true,
      			"en_preview":	true,
      			"preview_width":	1280,
      			"preview_height":	800,
      			"en_raw_preview":	true,
      			"en_misp":	true,
      			"misp_width":	1280,
      			"misp_height":	800,
      			"misp_venc_enable":	false,
      			"misp_venc_mode":	"h264",
      			"misp_venc_br_ctrl":	"cqp",
      			"misp_venc_Qfixed":	30,
      			"misp_venc_Qmin":	15,
      			"misp_venc_Qmax":	50,
      			"misp_venc_nPframes":	29,
      			"misp_venc_mbps":	2,
      			"misp_venc_osd":	false,
      			"misp_awb":	"auto",
      			"ae_mode":	"lme_msv",
      			"gain_min":	54,
      			"gain_max":	8000,
      			"ae_desired_msv":	60,
      			"exposure_min_us":	20,
      			"exposure_max_us":	12000,
      			"exposure_soft_min_us":	5000,
      			"ae_filter_alpha":	0.600000023841858,
      			"ae_ignore_fraction":	0.20000000298023224,
      			"ae_slope":	0.05000000074505806,
      			"ae_exposure_period":	1,
      			"ae_gain_period":	1
      		}, {
      			"type":	"imx412",
      			"name":	"hires",
      			"enabled":	true,
      			"camera_id":	1,
      			"fps":	30,
      			"en_preview":	false,
      			"preview_width":	640,
      			"preview_height":	480,
      			"en_raw_preview":	false,
      			"en_small_video":	true,
      			"small_video_width":	1024,
      			"small_video_height":	768,
      			"small_venc_mode":	"h264",
      			"small_venc_br_ctrl":	"cqp",
      			"small_venc_Qfixed":	30,
      			"small_venc_Qmin":	15,
      			"small_venc_Qmax":	40,
      			"small_venc_nPframes":	9,
      			"small_venc_mbps":	2,
      			"small_venc_osd":	false,
      			"en_large_video":	true,
      			"large_video_width":	4056,
      			"large_video_height":	3040,
      			"large_venc_mode":	"h264",
      			"large_venc_br_ctrl":	"cqp",
      			"large_venc_Qfixed":	40,
      			"large_venc_Qmin":	15,
      			"large_venc_Qmax":	50,
      			"large_venc_nPframes":	29,
      			"large_venc_mbps":	40,
      			"large_venc_osd":	false,
      			"en_snapshot":	true,
      			"en_snapshot_width":	4056,
      			"en_snapshot_height":	3040,
      			"exif_focal_length":	3.0999999046325684,
      			"exif_focal_length_in_35mm_format":	17,
      			"exif_fnumber":	1.2400000095367432,
      			"ae_mode":	"isp",
      			"gain_min":	54,
      			"gain_max":	8000
      		}, {
      			"type":	"pmd-tof-liow2",
      			"name":	"tof",
      			"enabled":	true,
      			"camera_id":	2,
      			"fps":	10,
      			"en_rotate":	true,
      			"ae_mode":	"off",
      			"gain_min":	0,
      			"gain_max":	0,
      			"exposure_max_us":	6000,
      			"standby_enabled":	false,
      			"decimator":	5
      		}, {
      			"type":	"ar0144",
      			"name":	"tracking_down",
      			"enabled":	true,
      			"camera_id":	3,
      			"fps":	30,
      			"en_rotate":	false,
      			"en_preview":	true,
      			"preview_width":	1280,
      			"preview_height":	800,
      			"en_raw_preview":	true,
      			"en_misp":	true,
      			"misp_width":	1280,
      			"misp_height":	800,
      			"misp_venc_enable":	false,
      			"misp_venc_mode":	"h264",
      			"misp_venc_br_ctrl":	"cqp",
      			"misp_venc_Qfixed":	30,
      			"misp_venc_Qmin":	15,
      			"misp_venc_Qmax":	50,
      			"misp_venc_nPframes":	29,
      			"misp_venc_mbps":	2,
      			"misp_venc_osd":	false,
      			"misp_awb":	"auto",
      			"ae_mode":	"lme_msv",
      			"gain_min":	54,
      			"gain_max":	8000,
      			"ae_desired_msv":	60,
      			"exposure_min_us":	20,
      			"exposure_max_us":	12000,
      			"exposure_soft_min_us":	5000,
      			"ae_filter_alpha":	0.600000023841858,
      			"ae_ignore_fraction":	0.20000000298023224,
      			"ae_slope":	0.05000000074505806,
      			"ae_exposure_period":	1,
      			"ae_gain_period":	1
      		}]
      }
      
      
      posted in VOXL 2
      voxl-phoenixV
      voxl-phoenix
    • RE: Zenoh on voxl-2

      @Beniamino-Pozzan Thank you so much for the info,
      I wanted to try it and realised foxy has no support and with Ubuntu 18.04 on voxl-2 it is not possible to use any other ROS-2 installations easily. I will use ros2 plugin by keeping microdds as default middleware.
      I hope newer ROS versions will be available for VOXL-2.

      posted in PX4 Autonomy Developer Kit
      voxl-phoenixV
      voxl-phoenix