Best posts made by Zachary Lowell 0

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:

they

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

Hi @dlee and @smilon so if you are installing your vision_opencv into sudo, then the conflicts will wipe out a ton of MPA and SDK programs. This is highly recommended NOT to be done. Instead either use docker, or leverage the package as a third party in a virtual environment or something along that nature.

voxl-vision-hub should be on target from the SDK installation:

voxl2:/$ sudo apt-get install voxl-vision-hub
Reading package lists... Done
Building dependency tree       
Reading state information... Done
voxl-vision-hub is already the newest version (1.7.3).
voxl-vision-hub set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 37 not upgraded.
1 not fully installed or removed.
After this operation, 0 B of additional disk space will be used.

However, most likely had the deb wiped or reconfigured when installing the opencv you were trying to leverage. Provided you guys are on sdk 1.1.2, you can just go into the tarball that has since been untarred and adb push the voxl-suite/voxl-vision-hub deb to the voxl2 and then do a sudo dpkg -i voxl-vision-hubXXXDEB - that will install it back onto the system. The other option is to either reflash or do a sudo apt-get upgrade which would pull the most recent debs from the modalAI apt repository on the cloud.

Let me know if this helps either of you!

@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!

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

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

Yes it will be available on the gitlab under a new branch most likely by EOD tomorrow. I wll post the branch that you can build from source - once approved it iwll be merged into the next stable release, etc.

@Rawdha-R please go into voxl-streamer config /etc/modalai/voxl-streamer.conf and change the auto ip to false and then change the url to match the IP address of that in your tailscale IP. I believe what is happening right now is voxl streamer might be prioritizing a different IP as Tom mentioned above.

Zach