ModalAI Top Tip: ROS is not required to use or develop with VOXL 2.
If you like ROS, let’s proceed:
VOXL 2 / RB5 Flight can use apt package management, which allows flexibility on what ROS version to install, and allows us to keep the core system image smaller. For these reasons, we leave it up to the end user to select what to install.
To install ROS Melodic (as an example), connect VOXL 2 / RB5 Flight to the internet and run the following:
apt-get update apt install -y ros-melodic-ros-base ros-melodic-image-transport
If you have not already configured MPA, please check this out first as it is a pre-requisite.
As a shortcut, if you have a VOXL 2 Sentinel:
voxl-configure-mpa -p -f sentinel
If you have an RB5 Flight:
voxl-configure-mpa -p -f rb5-flight
Source ROS setup script:
voxl2:~$ . /opt/ros/melodic/setup.sh
Run the voxl_mpa_to_ros node, which uses this launch file
voxl2:~$ roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch
You should get similar output:
... logging to /home/root/.ros/log/81ccbc5c-34ac-11ed-80c6-00c0caafca29/roslaunch-m0054-2535.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://m0054:45955/ SUMMARY ======== PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.13 NODES / voxl_mpa_to_ros_node (voxl_mpa_to_ros/voxl_mpa_to_ros_node) auto-starting new master process[master]: started with pid  ROS_MASTER_URI=http://localhost:11311 setting /run_id to 81ccbc5c-34ac-11ed-80c6-00c0caafca29 process[rosout-1]: started with pid  started core service [/rosout] process[voxl_mpa_to_ros_node-2]: started with pid  MPA to ROS app is now running Found new interface: hires Found new interface: qvio_overlay Found new interface: stereo_front Found new interface: stereo_rear Found new interface: tracking Found new interface: imu_apps Found new interface: voa_pc_out Found new interface: qvio
In a new shell, run the following:
voxl2:~$ rostopic list /hires /imu_apps /qvio/odometry /qvio/pose /qvio_overlay /rosout /rosout_agg /stereo_front/left /stereo_front/right /stereo_rear/left /stereo_rear/right /tracking /voa_pc_out
See the MAVROS test example for VOXL 2.
See the building ROS nodes for VOXL for information on making your own ROS nodes.