Hi @dlee - this is purposeful. The voxl2 uses a ton of dependencies on a specific build of opencv - so by installing ros-melodic-cv-bridge (which you should NOT even be able to do due to dependency conflicts) you break a lot of what is dependent on that build of opencv, including vision-hub. The ros melodic which is on target is the minimal build, meaning opencv isnt installed due to those specific conflicts above.

You can always try installing it from source and pointing the third party instead of downloading it in sudo. My other recommendation would be to upgrade to ros2 foxy which is already on target.

https://github.com/ros-perception/vision_opencv/tree/melodic <-- here is the link to to melodic cv bridge. LMK if that helps!

@cfirth said in Update SDK docs on installing ROS2 on VOXL2:

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Thanks for the comment @cfirth - this has been updated in the gitlab and is waiting to be merged for the document update!

Makes sense to me @smilon - keep in mind that the px4 instance on the voxl2 is not mainlined so a lot of those features involving the microDDS arent fully implemented yet. It is quite easy to be the subscriber in ros2 from the DDS by exposing that topic from the yaml - but definitely might require some programming on the other side of things in PX4 to ensure that the rest of the code base can ingest the dds uorb you are passing along, etc.

Also just some stuff I have come accross with PX4 instance of precision landing - it isnt all that good - youd have better luck implementing your own method of landing via offboard movement using something like mavros or mavsdk.

Let me know how it goes!
Zach

Ok @jmltt I fixed it - there was a giant conflict with versioning on px4_msgs and px4_ros_coms which was fun to deal with - anyways I have a branch waiting for approval to be merged into the most recent nightly and you can then pull the dev from the apt repository when it gets merged in - until then feel free to rebuild voxl-mpa-to-ros2 deb and install on your voxl2 from the branch zach/submodule update: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/tree/zach/submodule_update

Cheers!
Zach

@Judoor-0 this is a very unlikely occurance for a barebones instance with no external code running on the drone. I would recommend reflashing SDK 1.3.5 and the sys image and starting fresh to make sure there is nothing corrupt going on behind the scenes. Post install if this is still the case please let us know.

@smilon said in Custom px4-firmware build on StarlingV2:

I ran into an issue while installing the newly built voxl-px4 which states it depends on libfc-sensor(>=1.0.5) and I only have (1.0.4) on my system. @Eric-Katzfey I saw you authored some commits on libfc-sensor-api, do you have any clue how I can update?

1 Reply Last reply about 3 hours ago Reply

@smilon I would recommend using ros2 wrapper around mavsdk instead of mavros, that is what we have done in the past as mavros and ros1 are both depricated and not supported anymore. Anyways, goodluck with the project!

@vicky-s-karthik mind posting the exact commands that you ran?

ROS melodic is fully deprecated - so my recommendation is to move over to ros2 foxy which is what we support on the voxl2 as of right now. I will try and recreate your issue in the meantime. Please try installing ros melodic base as the cv2 instance on there conflicts with opencv on voxl-sdk.

Spot on @Matt-Ooi - the voxl2 is natively meant to handle transformations for ardupilot and px4 - BUT you are using MAVROS which is a different tranformation all together - hence why you would have to do the transofmratio yourself before sending into the flight stack running ardupilot (aka when calling mavros offboard) or something

@robertshmurda this has been done by myself by piping the point cloud directly into the MPA.

You can grab the point cloud from whatever api/sdk exists for your lidar and as long as you can get it into the correct struct to pass through the MPA, you can do that and stream it directly to voxl-mapper.

If you have more questions - feel free to email me zachary.lowell@ascendengineer.com and we can hop on a call or something.

Hi @Isaac-Stephan-Remy that tends to happen when the conversion from the frame in MPA to the ros1 or 2 image is not allocated the proper amount of size. I will do some testing with a FLIR thermal camera over UVC and get back with a fix for a PR - you will need to most likely build from source for ros1.

Also I do recommend swapping over to ROS2 FOXY on the voxl2 as it is more supported and ROS1 is at EOL.

Zach

@nikolahm is your drone PID tuned? How are you flying in position mode? GPS based flight, VIO based flight, etc. What is the environment you are testing in, can you paste a log in here please?

Hi @GlennTee you need to do a git submodule update --init --recursive on the voxl mpa ros2 code base to pull in px4 ros msgs

Zach

You need to push the install folder as thats where the executables live in ros2 once you run colcon build. src folder is just the code you wrote with zero executables after colcon build is run.

@tahawaru said in How to build-compile FOXY ROS2 packages and nodes for RB5:

pushing your docker instance to the voxl2, then deploying the docker container, and running ros2 run command inside the docker container correct?

I build my docker container on the voxl2 and then run everything inside. I am unsure I am following what you are doing. If its easiest, just install docker on your voxl2, then build your container on there and call it a day.

The other option is to run on disk outside of a docker instance. The voxl2 supports ros2 foxy natively on disk. To install this you can just do apt-get install voxl-ros2-foxy - lmk if that helps.

@claw said in VOXL2 ROS2 Starling Code Inconsistencies:

@Zachary-Lowell-0 Thank you for your help and guidance. Is there a way to get the status information like battery voltage using Python?

Reply

@claw yes you can follow this post to get battery over the DDS: https://forum.modalai.com/topic/4353/voxl2-px4-ros2-mpa-to-ros2-for-battery-voltage-problems/12?_=1745355297145

Did you ever install voxl-ros2-foxy?

You should be doing cross compilation for things like this - aka on your computer running voxl-docker -i qrb5165-emulator and then building the debian and flashing to the voxl2.

So what I currently do to build is:

1. clone mpa to ros2 on your parent computer
2. cd into repository
3. run voxl-docker -i qrb5165-emulator:1.5
4. run ./install_build_deps.sh qrb5165 dev
5. run ./build.sh qrb5165
6. run ./make_package.sh

Push via adb or scp the deb from parent computer to voxl2 and then unpackage the deb and source the right directory.

LMK if that helps at all - if you need to install nlohmann json btw you should be doing it via voxl-configure-mpa-to-ros2

Zach

@tahawaru said in How to build-compile FOXY ROS2 packages and nodes for RB5:

_find_and_load_unlocked

to confirm @tahawaru you are pushing your docker instance to the voxl2, then deploying the docker container, and running ros2 run command inside the docker container correct? Prior to running the ros2 command in the docker instance you are sourcing the right packages? Usually the rosidl typesupport error occurs because you have not build the right package and if you have you never sourced the right directory - so in your case its necessary to run source /opt/ros/foxy/setup.bash (if you installed px4 msgs via apt-get) if you build them directly from the colcon env then you need to source the directory you built those messages in!

LMK if this helps.
Zach

@GlennTee have you sourced the right directories? If you run source /opt/ros/foxy/mpa_to_ros/install/setup.bash that should tell your package manager that the px4 messages type exists. I also notice you are running this on your local machine - have you install the necessary packages there? If you instantiate the voxl-cross or qrb5165 emulator image and then use vscode inside the docker then you should be able to see the px4 messages just fine.

LMK if that helps!
Zach

@GlennTee one step ahead of you!

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2/-/blob/dev/colcon_ws/src/voxl_mpa_to_ros2/src/interfaces/tag_interface.cpp?ref_type=heads

Going to be rleased on the next sdk release - if you want it now, feel free to build and install the package.