@tom

It was a massive lift on my end. Many changes as you can see from the pull request. Years of development

It appears this happens when the sensors are not calibrated on the drone. voxl-vision-px4 picks up on sensor inconsistency and restarts PX4.

So, calibrated the sensors. Looks better

resolved

My fault. Found a small tear in the ribbon for the stereo cameras

RESOLVED

I think these documentation pages are the same.

https://docs.modalai.com/voxl-cross/
https://docs.modalai.com/voxl-emulator/
https://docs.modalai.com/voxl-emulator/

Not huge deal, but thought I would post ticket to track

Docker container non-deterministic fail

I am trying to start a container with the following command:
docker run --rm -it --net=host cal_compass:latest

Sometimes it starts right up. Other times it gives me this error: Cannot start container 05621665b072b85b6419f904c0ffb511a1ad07a32c1ca675820aaadbefa4a316: [8] System error: write /sys/fs/cgroup/cpuset/system.slice/cpuset.cpus: invalid argument"

Any ideas what could be wrong? Thank you for any insights

@Caleb-Rievley are you loading firmware 1.12 and 1.13 on the VOXL Flight?

ModalAI comes out with their own versions of PX4. Let me dig up that URL:

https://docs.modalai.com/flight-core-firmware/

Hello,

We have a UAV we would like to fly indoors and outdoors without landing during that transition.
I know that there is support for EKF2 GPS/VIO "fusion" using 329 as the EKF2_AID_MASK in PX4
Link to tutorial

We were thinking of manually changing the EKF2 bitmask when we fly indoors or outdoors.

My question is, are there any software/features available that would more easily support switching from GPS to VIO? Want to make sure I am not redoing work before I start.

Thank you

So it turns out that the post-running script for docker service relies on the image "hello-world:latest"

I had uninstalled that image to save space.

Redownloading image and trying again

@modaltb This worked for me. Removing the USBC cable, booting up, and then plugging in.

Wanted to update this by saying I experienced same issue, but I resolved this by disconnecting tracking camera that had been installed upside down. So, if anyone is reading this in the future....try disconnecting your cameras attached to the board

Hello,

Was wondering if there are any plans to integrate the IMX 327 Ultra low light.

Thanks!

@Judoor-0 Gotcha. Let me know if this doesnt answer your question.

you can use voxl mpa to ros2: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2
and this will allow you to access camera frame information

and video: https://www.youtube.com/watch?v=ysvpJdXFWaM

@Judoor-0

I do not have an suggestions for implementing this directly on voxl2. as mentioned the voxl-opencv might conflict with standard opencv. I have also seen other packages conflict and python versions conflict depending on the ROS version you are using.
Far easier and cleaner to use a docker image, and creates less headache in the long run.

when you say data for cameras, what do you mean? I do not believe Modal has a DIRECT model of the drone in RViz or Gazebo. But you can follow this guide to get HITL working in Gazebo with the voxl2 hardware: https://docs.modalai.com/voxl2-PX4-hitl/

For interfacing with docker, that is more about learning how docker works. you can start a container, attach to it, execute commands.
For interfacing with more voxl things (MPA pipelines, network connections) you will want to share volumes of what you want to have access to (-v /run/mpa:/run/mpa -v /usr/bin/voxl-list-pipes:/usr/bin/voxl-list-pipes) and give the container priviledged and host network --privileged --net=host. This information should be contained in the walkthrough I posted above.

To give you context as well, we usually run ROS on a docker image when running it on voxl.
Does this answer your question?

@Judoor-0

1. When you say voxl libraries do you mean the VOXL SDK? Probably not as ROS depends on specific packages to work together
2. There is a decent walkthrough here: https://docs.modalai.com/docker-on-voxl/#voxl-2. At the end of the day you can pull in a docker image that has ROS pre-installed here: https://hub.docker.com/_/ros. Noetic is included in that. You can either pull it down straight on your voxl if there is an internet connection, or (takes longer) pull it down on your local PC using docker, save it to a tar file, adb push it to your voxl, and load it up using docker on your voxl.

@James-Strawson This is perfect! Thank you James!

@Moderator Indoor

If I wanted to get 360 degree obstacle avoidance. What is the recommended path to do so?

front and back stereo depth? two TOF? outside sensor?

Shot in the dark. Would it be possible for one of the USB Fastboot addon boards (connected to voxl2 cause the USB on another advice to get fried?

I have had the USB on 3 doodles just stop working. All of them were connected to a voxl2. I am unsure why this keeps happening. I am just trying to narrow this down. THank you