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VOXLSetup.md

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VOXL board setup

ModalAI Technichal Docs

Flash the board

Get the system image modalai-2-5-2-1.0.1-b.tar.gz

tar -xvf modalai-2-5-2-1.0.1-b.tar.gz
cd modalai-2-5-2-1.0.1-b
python install.py
  • When asked "Do you want this installer to fetch the latest packages, and automatically install them? (y/n)" Type n (do not install voxl-suite)

Install voxl utils and other ipk

tar -xvf voxl-min-ipk.tar.gz
cd voxl_working_ipk
./install.sh --adb

Push precompiled ipks to the board and setup files folder to the board

adb push ipk_emulator_v1.1 /home/root
adb push snav_setup /home/root

Change hostname based of vehicle id $1

adb shell
sudo hostname dragonfly$1
vi /etc/hostname
  • replace apq8096 with: dragonfly$1
  • :wq + Enter to save and exit vi

Connect Wifi to AP

voxl-wifi station <SSID> <Password>
exit

Reboot adb device and try ssh into the board $1 assumed to be 30

adb reboot && adb wait-for-device
ssh root@dragonfly30
  • password oelinux123

Installing snav and other ipks

cd ~/ipk_emulator_v1.1
opkg remove voxl-suite
opkg remove voxl-vision-px4
opkg remove modalai-vl
opkg install snav-modalai_1.4.1_8x96.ipk
opkg install Python_3.6.9_8x96.ipk
opkg install libevent_2.1.11_8x96.ipk
opkg install tmux_2.1_8x96.ipk
opkg install opencv_3.4.6_8x96.ipk
opkg install rsync_3.1.2_8x96.ipk

Setting cameras

voxl-configure-cameras 3

This updates the following files

  • /etc/snav/camera.downward.xml
  • /etc/snav/camera.stereo.xml
  • /etc/modalai/camera_env.sh

Copy config files

cd ~/snav_setup
cp _bashrc_voxl ~/.bashrc
cp _tmux2.1.conf ~/.tmux.conf
cp _bash_aliases ~/.bash_aliases
cp _vimrc ~/.vimrc

cp snav_params_voxl_230_2s_45deg_MT1306-8.xml /usr/lib/rfsa/adsp/

ln -sf /usr/lib/rfsa/adsp/snav_params_voxl_230_2s_45deg_MT1306-8.xml /usr/lib/rfsa/adsp/snav_params.xml

systemctl stop snav_vio_app
systemctl stop snav_voa_app
systemctl stop snav_vio_apriltag_app
systemctl stop snav_dronecontroller

ln -sf /usr/lib/rfsa/adsp/snav_params_voxl_230_2s_45deg_MT1306-8.xml /usr/lib/rfsa/adsp/snav_params.xml
ln -sf /etc/snav/mount.downward_voxl_tray.xml /etc/snav/mount.snav_dft_vio_app.xml
ln -sf /etc/snav/mount.downward_voxl_tray.xml /etc/snav/mount.snav_dft_vio_apriltag_app.xml
ln -sf /etc/snav/mount.stereo.thirteen_deg_down.xml /etc/snav/mount.stereo.xml

Set environment variable based on vehicle ID, example 30

export MAV_ID=30
echo "export MAV_ID=$MAV_ID" >> ~/.bashrc
echo "export MAV_NAME=dragonfly$MAV_ID" >> ~/.bashrc
echo "export MAV_TYPE=230" >> ~/.bashrc
echo "export MAV_MASS=0.245" >> ~/.bashrc
echo "export MAV_BOARD=sdf_pro_imu1" >> ~/.bashrc
echo "export IMU_1_USED=true" >> ~/.bashrc
echo "export XBEE_BUS=12" >> ~/.bashrc
echo "export USE_LOG_CAMERA_HEIGHT=false" >> ~/.bashrc
echo "export LOG_CAMERA_HEIGHT=-3.912" >> ~/.bashrc
echo "export USE_VIO_MASK=false" >> ~/.bashrc
echo "export TOF_PITCH=-1.570796" >> ~/.bashrc

Calibrate IMU

  • Restart the MAV before IMU calbiration
  • Below command does a static IMU calibration
  • Without IMU calibration the leds will be blinking yellow
  • After calibration the leds will blink blue
systemctl stop snav
systemctl start snav
snav_calibration_manager -s

systemctl restart snav

mkdir -p /data/home_linaro
ln -s /data/home_linaro/ws_indigo/install/share/snavquad_interface/scripts/tmux_voxl.sh tmux_voxl.sh
ln -s ~/ws_ros/install/share/snavquad_interface/scripts/capture/record.sh

Configure docker and Load Noetic arm64v8-noetic-focal_voxl.tar.gz docker from SD card

  • Docker load will take roughly 10mins
voxl-configure-docker-support.sh

cd /mnt/sdcard
sudo docker load --input arm64v8-noetic-focal_voxl.tar.gz

sudo docker run -it --privileged \
  --net=host --name voxl_noetic_docker \
  -v /dev/ptmx:/opt/ptmx \
  -v /data/home_linaro:/root/home_linaro:rw \
  -w /root/ \
  kumarrobotics/voxl:arm64v8-noetic-focal_voxl \
  /bin/bash

sudo docker start voxl_noetic_docker
sudo docker exec -it voxl_noetic_docker /bin/bash

Setup docker on laptop and compile packages

Docker setup on computer

Sync the ROS packages and test the robot