Seeker Streaming VIO

Seeker Streaming VIO
1. Viewing Localization Data from Tracking Sensor
2. Viewing Point Cloud (and Stereo Tracking Images)

Viewing Localization Data from Tracking Sensor

The Visual Intertial Odometry (VIO) feature uses the tracking image sensor with fisheye lens and an onboard IMU to provide localization data. At a high level, this provides you a realtime “X, Y, Z” in space. To use this feature, simply run the following command:

voxl-inspect-qvio

The output displayed updates as you move the VOXL-CAM around in space:

vio-output

You can move VOXL-CAM around and see the data update.

Hit CTRL+C to stop the program

See Here for more information

Viewing Point Cloud (and Stereo Tracking Images)

(only needed if you mess with things).04 or newer

Setup ROS on PC
Setup ROS on VOXL (already done on shipped VOXL-CAMs)
RViz (apt-get install rviz)

Configuration

Please ensure you’ve setup ROS on PC

The unit’s software is shipped already configured and ready to use.

Note: If needed, you can follow the Software Setup section below to fully reconfigure the VOXL-CAM.

SSH into VOXL-CAM

If not already done, SSH into VOXL-CAM and change the shell to bash:

ssh root@192.168.8.1
~# bash
yocto:~#

Setup the environment (this assumes VOXL-CAM is in SoftAP with IP Address of 192.168.8.1 which is the default):

yocto:~# source /opt/ros/indigo/setup.bash
yocto:~# source ~/my_ros_env.sh 

Run the following command to run the MPA ROS Node:

yocto:~# roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch

The exepected output is shown:

yocto:~# roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch
... logging to /home/root/.ros/log/790d372a-a45e-11eb-ade8-ec5c68cd1ad7/roslaunch-apq8096-4239.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://192.168.1.188:36869/

SUMMARY
========

PARAMETERS
 * /mpa/voxl_mpa_to_ros_node/image0_pipe: tracking
 * /mpa/voxl_mpa_to_ros_node/image0_publish: True
 * /mpa/voxl_mpa_to_ros_node/image1_pipe: hires_preview
 * /mpa/voxl_mpa_to_ros_node/image1_publish: True
 * /mpa/voxl_mpa_to_ros_node/image2_pipe: qvio_overlay
 * /mpa/voxl_mpa_to_ros_node/image2_publish: True
 * /mpa/voxl_mpa_to_ros_node/image3_pipe: 
 * /mpa/voxl_mpa_to_ros_node/image3_publish: False
 * /mpa/voxl_mpa_to_ros_node/image4_pipe: 
 * /mpa/voxl_mpa_to_ros_node/image4_publish: False
 * /mpa/voxl_mpa_to_ros_node/image5_pipe: 
 * /mpa/voxl_mpa_to_ros_node/image5_publish: False
 * /mpa/voxl_mpa_to_ros_node/imu0_pipe: imu0
 * /mpa/voxl_mpa_to_ros_node/imu0_publish: True
 * /mpa/voxl_mpa_to_ros_node/imu1_pipe: imu1
 * /mpa/voxl_mpa_to_ros_node/imu1_publish: True
 * /mpa/voxl_mpa_to_ros_node/stereo_pipe: stereo
 * /mpa/voxl_mpa_to_ros_node/stereo_publish: True
 * /mpa/voxl_mpa_to_ros_node/tof_cutoff: 100
 * /mpa/voxl_mpa_to_ros_node/tof_pipe: tof
 * /mpa/voxl_mpa_to_ros_node/tof_publish: True
 * /mpa/voxl_mpa_to_ros_node/vio0_pipe: qvio
 * /mpa/voxl_mpa_to_ros_node/vio0_publish: True
 * /mpa/voxl_mpa_to_ros_node/vio1_pipe: 
 * /mpa/voxl_mpa_to_ros_node/vio1_publish: False
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /mpa/
    voxl_mpa_to_ros_node (voxl_mpa_to_ros/voxl_mpa_to_ros_node)

ROS_MASTER_URI=http://192.168.1.188:11311/

core service [/rosout] found
process[mpa/voxl_mpa_to_ros_node-1]: started with pid [4257]
Param: "image3_publish" set to false, not publishing associated interface
Param: "image4_publish" set to false, not publishing associated interface
Param: "image5_publish" set to false, not publishing associated interface
Param: "vio1_publish" set to false, not publishing associated interface


MPA to ROS app is now running

Starting Manager Thread with 8 interfaces

Found pipe for interface: tracking, now advertising
Did not find pipe for interface: hires_preview,
    interface will be idle until its pipe appears
Did not find pipe for interface: qvio_overlay,
    interface will be idle until its pipe appears
Found pipe for interface: stereo, now advertising
Found pipe for interface: tof, now advertising
Found pipe for interface: imu0, now advertising
Found pipe for interface: imu1, now advertising
Found pipe for interface: qvio, now advertising

Launch RVIZ on Desktop

On the host computer, run RVIZ

rviz

First configure the Global Options > Fixed Frame. By default, the dropdown is set to ‘map’. Change this value to ‘world’.

To view the Point Cloud from ToF sensor:

On the leftmost column click on the “Add” button
In the pop-up options click on “PointCloud2”
Change Display Name to “tof”
In the left column under “tof” tab select type in Image Topic as /tof/point_cloud
If needed, set the “Global Options” “Fixed Frame” to “map”
If needed, Under the “tof” node, set Style to “Points”

To View the Tracking image sensors:

On the leftmost column click on the “Add” button
In the pop-up options click on “Image”
Change Display Name to “tracking” and click “OK”
In the left column, expand the “tracking” node and select type in Image Topic as /tracking/image_raw

To View the Stereo image sensors:

On the leftmost column click on the “Add” button
In the pop-up options click on “Image”
Change Display Name to “stereo_left”
In the left column under “stereo_left” tab select type in Image Topic as /stereo/left/image_raw
On the leftmost column click on the “Add” button
In the pop-up options click on “Image”
Change Display Name to “stereo_right”
In the left column under “stereo_right” tab select type in Image Topic as /stereo/right/image_raw

voxl cam RVIZ