voxl_mpa_to_ros

ROSNode that takes in mpa data and published it to ROS

Build Instructions

1. Requires the voxl-emulator (found here) to run docker ARM image
   • (PC) cd [Path To]/voxl-mpa-to-ros
   • (PC) sudo voxl-docker -i voxl-emulator
2. Build project binary:
   • (VOXL-EMULATOR) ./install_build_deps.sh apq8096 stable
   • (VOXL-EMULATOR) ./clean.sh
   • (VOXL-EMULATOR) ./build.sh
   • (VOXL-EMULATOR) ./make_package.sh ipk

Installation

Install mpa-to-ros by running (VOXL):

opkg install voxl-mpa-to-ros

or (VOXL2/RB5):

apt install voxl-mpa-to-ros

If you're running a version of the voxl sdk <= 0.5.0 this package was found under voxl-nodes and can be installed with:

opkg install voxl-nodes

Start Installed MPA ROS Node

Run the following commands(on voxl):

Verify your ros environment with:

vi ~/my_ros_env.sh

if you make any changes make sure to run exec bash to re-source the file

and then start the node with:

roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch

Supported Interfaces

The current supported mpa->ros translations are:

-cameras from voxl-camera-server or any services that publish an overlay

-IMUs

-VIO data from voxl-qvio-server (the data will appear under the qvio name, but it is normal vio data)

-Point Clouds from the TOF sensor or services providing point clouds such as voxl-dfs-server

-AI Detections from voxl-tflite-server

Expected Behavior

voxl:/$ roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch
... logging to /home/root/.ros/log/5ef19600-cbd7-11ec-8a51-ec5c68cd23bd/roslaunch-apq8096-3468.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.1.58:46256/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /
    voxl_mpa_to_ros_node (voxl_mpa_to_ros/voxl_mpa_to_ros_node)

auto-starting new master
process[master]: started with pid [3487]
ROS_MASTER_URI=http://192.168.1.58:11311/

setting /run_id to 5ef19600-cbd7-11ec-8a51-ec5c68cd23bd
process[rosout-1]: started with pid [3500]
started core service [/rosout]
process[voxl_mpa_to_ros_node-2]: started with pid [3503]


MPA to ROS app is now running

Found new interface: stereo
Found new interface: tof_conf
Found new interface: tof_depth
Found new interface: tof_ir
Found new interface: tof_noise
Found new interface: tracking
Found new interface: tof_pc