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VOXL Suite

Table of contents

  1. Overview
  2. Upgrade VOXL Suite Independently (Advanced)
  3. CHANGELOG
    1. v0.9.5
    2. v0.9.4
    3. v0.8
    4. v0.7.0
    5. v0.5.0
    6. v0.4.6
    7. v0.3.4
    8. v0.2.0
    9. v0.1.1

Overview

VOXL Suite is the collection of VOXL SDK software packages that are installed on VOXL itself, as opposed to tools and build environments that are installed on a desktop. It is defined by a meta-package, voxl-suite_x.x.x.deb, that depends on all of the core ModalAI tools and services.

voxl-suite is bundled up with a matching system image to create what’s called a Platform Release.

Upgrade VOXL Suite Independently (Advanced)

It is highly recommended to stick to using Platform Releases as-is since they are tested as a whole with System Image and VOXL Suite together. If you are an experienced developer and know what you are doing then you can follow the instructions on the voxl-configure-pkg-manager page to configure VOXL to pull packages from different voxl-suite release, but we will not support software issues that arise from this.

CHANGELOG

v0.9.5

This is a maintenance release for SDK-0.9

- More robust writing to pipes
- Allow mavlink 1 packets through libmodal_pipe and voxl-mavlink-server
- voxl-mavlink-server can auto-select between 2 uart ports on APQ8096
- fix 3D map bug in voxl-portal
PackageVersionAPQ8096QRB5165
apq8096-dfs-server0.3.1 (unchanged)✅ 
apq8096-imu-server1.0.3 (unchanged)✅ 
apq8096-libpng1.6.38-1 (unchanged)✅ 
apq8096-rangefinder-server0.1.3 (unchanged)✅ 
apq8096-system-tweaks0.1.3 (unchanged)✅ 
apq8096-tflite2.8.3-1 (unchanged)✅ 
libapq8096-io0.6.0 (unchanged)✅ 
libmodal-cv0.2.3 (unchanged)✅✅
libmodal-exposure0.0.7 (unchanged)✅✅
libmodal-journal0.2.1 (unchanged)✅✅
libmodal-json0.4.3 (unchanged)✅✅
libmodal-pipe2.6.0 –> 2.8.2✅✅
libqrb5165-io0.1.0 (unchanged) ✅
librc-math1.3.0 (unchanged)✅✅
libvoxl-cci-direct0.1.5 (unchanged)✅✅
libvoxl-cutils0.1.1 (unchanged)✅✅
mavlink-camera-manager0.1.0 (unchanged)✅ 
qrb5165-dfs-server0.1.0 (unchanged) ✅
qrb5165-imu-server0.5.0 (unchanged) ✅
qrb5165-system-tweaks0.1.5 (unchanged) ✅
qrb5165-tflite2.8.0-2 (unchanged) ✅
voxl-bind0.0.1 (unchanged) ✅
voxl-camera-calibration0.2.3 (unchanged)✅✅
voxl-camera-server1.3.5 (unchanged)✅✅
voxl-ceres-solver1.14.0-9 (unchanged)✅✅
voxl-cpu-monitor0.3.0 (unchanged)✅✅
voxl-docker-support1.2.4 (unchanged)✅✅
voxl-eigen33.4.0 (unchanged)✅✅
voxl-flir-server0.2.0 (unchanged)✅✅
voxl-gphoto2-server0.0.10 (unchanged)✅✅
voxl-jpeg-turbo2.1.3-4 (unchanged)✅✅
voxl-libgphoto20.0.4 (unchanged)✅✅
voxl-libuvc1.0.7 (unchanged)✅✅
voxl-logger0.3.4 (unchanged)✅✅
voxl-mapper0.1.5 (unchanged)✅✅
voxl-mavlink0.1.0 (unchanged)✅✅
voxl-mavlink-server0.2.0 –> 0.3.0✅✅
voxl-modem0.16.1 (unchanged)✅✅
voxl-mongoose7.7.0-1 (unchanged)✅✅
voxl-mpa-tools0.7.6 (unchanged)✅✅
voxl-mpa-to-ros0.3.6 (unchanged)✅✅
voxl-nlopt2.5.0-4 (unchanged)✅✅
voxl-opencv4.5.5-1 (unchanged)✅✅
voxl-portal0.4.2 –> 0.5.0✅✅
voxl-px41.12.31 (unchanged) ✅
voxl-px4-imu-server0.1.2 (unchanged) ✅
voxl-qvio-server0.8.2 (unchanged)✅✅
voxl-remote-id0.0.5 (unchanged) ✅
voxl-streamer0.4.1 (unchanged)✅✅
voxl-tag-detector0.0.4 (unchanged)✅✅
voxl-tflite-server0.3.1 (unchanged)✅✅
voxl-utils1.2.2 (unchanged)✅✅
voxl-uvc-server0.1.3 (unchanged)✅✅
voxl-vision-px41.4.0 (unchanged)✅✅
voxl-voxblox1.1.3 (unchanged)✅✅
voxl-vpn0.0.6 (unchanged)✅ 

v0.9.4

Requires VOXL (APQ8096) system image >= v4.0.0 and VOXL2/RB5F system image 1.4.1+

Major features:

IMU
 * Improve stability of ICM42688 driver
 * New Timestamp Filter module in librc_math
 * improved timestamps in qrb5165-imu-server
 * qrb5165-imu-server publishes live FFT of IMU data
 * enable AAF filter for ICM42688 accel on QRB5165
Portal
 * improve robustness un poor network conditions
 * Image framerate and quality reacts more quickly
 * new live FFT plot (qrb5165 only)
 * better CPU and IMU plots
Camera
 * PMD TOF support on both APQ8096 and QRB5165
Other
 * VIO level calibration
 * voxl-flir-server for Lepton 3 on both platforms
 * VIO packet includes cam_id field for feature points
 * point cloud packet includes ID and source fields
 * QRB5165 more robust pipe disconnection detection
 * voxl-mapper overhaul
 * QRB5165 support external UART flight controller in voxl-mavlink-server
 * VOA fallback mode when no VIO or attitude data is present
 * QVIO quality metric based on distribution of features
 * Preliminary (Beta) RemoteID support on QRB5165
PackageVersionAPQ8096QRB5165
apq8096-dfs-server0.3.0 –> 0.3.1✅ 
apq8096-imu-server1.0.2 –> 1.0.3✅ 
apq8096-libpng1.6.38-1 (unchanged)✅ 
apq8096-rangefinder-server0.1.2 –> 0.1.3✅ 
apq8096-system-tweaks0.1.2 –> 0.1.3✅ 
apq8096-tflite2.2.3-4 –> 2.8.3-1✅ 
libapq8096-io0.5.8 –> 0.6.0✅ 
libmodal-cv0.1.0 –> 0.2.3✅✅
libmodal-exposure0.0.7 (unchanged)✅✅
libmodal-journal0.2.1 (new)✅✅
libmodal-json0.4.2 –> 0.4.3✅✅
libmodal-pipe2.4.0 –> 2.6.0✅✅
libqrb5165-io0.1.0 (unchanged) ✅
librc-math1.1.8 –> 1.3.0✅✅
libvoxl-cci-direct0.1.5 (new)✅✅
libvoxl-cutils0.1.1 (unchanged)✅✅
mavlink-camera-manager0.1.0 (unchanged)✅ 
qrb5165-dfs-server0.0.5 –> 0.1.0 ✅
qrb5165-imu-server0.2.4 –> 0.5.0 ✅
qrb5165-system-tweaks0.1.3 –> 0.1.5 ✅
qrb5165-tflite2.8.0-2 (unchanged) ✅
voxl-bind0.0.1 (unchanged) ✅
voxl-camera-calibration0.2.2 –> 0.2.3✅✅
voxl-camera-server1.1.0 –> 1.3.5✅✅
voxl-ceres-solver1.14.0-7 –> 1.14.0-9✅✅
voxl-cpu-monitor0.2.6 –> 0.3.0✅✅
voxl-docker-support1.2.4 (unchanged)✅✅
voxl-eigen33.4.0 (new)✅✅
voxl-flir-server0.0.4 –> 0.2.0✅✅
voxl-gphoto2-server0.0.10 (unchanged)✅✅
voxl-jpeg-turbo2.1.3-4 (unchanged)✅✅
voxl-libgphoto20.0.4 (unchanged)✅✅
voxl-libuvc1.0.6 –> 1.0.7✅✅
voxl-logger0.3.2 –> 0.3.4✅✅
voxl-mapper0.0.7 –> 0.1.5✅✅
voxl-mavlink0.1.0 (unchanged)✅✅
voxl-mavlink-server0.1.3 –> 0.2.0✅✅
voxl-modem0.15.2 –> 0.16.1✅✅
voxl-mongoose7.6.0 –> 7.7.0-1✅✅
voxl-mpa-tools0.7.2 –> 0.7.6✅✅
voxl-mpa-to-ros0.3.3 –> 0.3.6✅✅
voxl-nlopt2.5.0-4 (unchanged)✅✅
voxl-opencv4.5.5-1 (unchanged)✅✅
voxl-portal0.2.8 –> 0.4.2✅✅
voxl-px41.4.16 –> 1.12.31 ✅
voxl-px4-imu-server0.1.2 (unchanged) ✅
voxl-qvio-server0.7.1 –> 0.8.2✅✅
voxl-remote-id0.0.5 (new) ✅
voxl-streamer0.3.6 –> 0.4.1✅✅
voxl-tag-detector0.0.4 (unchanged)✅✅
voxl-tflite-server0.2.7 –> 0.3.1✅✅
voxl-utils1.1.4 –> 1.2.2✅✅
voxl-uvc-server0.1.1 –> 0.1.3✅✅
voxl-vision-px41.2.0 –> 1.4.0✅✅
voxl-voxblox1.0.4 –> 1.1.3✅✅
voxl-vpn0.0.6 (unchanged)✅ 

v0.8

Requires VOXL system image 3.8+ or VOXL2/RB5F system image 1.3.1+

This VOXL Suite is BETA only for VOXL 1 since it includes camera server updates allowing improved support for most cameras but no PMD TOF functionality

* IMPROVEMENT:       apq8096 stereo cameras no longer have a high-pass filter and look much cleaner
* IMPROVEMENT:       libmodal-cv beginning to support CVP functionality on QRB5
* IMPROVEMENT:       libmodal-pipe support for setting process/thread priority
* IMPROVEMENT:       libmodal-pipe/qvio/vvpx4 updated vio struct to match latest mavlink
* IMPROVEMENT:       voxl-camera-calibration command line options for more modular use
* IMPROVEMENT:       voxl-camera-server support for ov9782 cameras
* IMPROVEMENT:       voxl-logger major efficiency rework
* NEW PACKAGE:       voxl-bind (qrb5165-only)
* RENAME PACKAGE:    qrb5165-camera-server > voxl-camera-server (now cross-platform)
PackageVersionAPQ8096QRB5165
apq8096-dfs-server0.2.6 –> 0.3.0✅ 
apq8096-imu-server1.0.1 –> 1.0.2✅ 
apq8096-libpng1.6.38-1 (new)✅ 
apq8096-rangefinder-server0.1.0 –> 0.1.2✅ 
apq8096-system-tweaks0.1.2 (unchanged)✅ 
apq8096-tflite2.2.3-4 (unchanged)✅ 
libapq8096-io0.5.8 (unchanged)✅ 
libmodal-cv0.0.5 –> 0.1.0✅✅
libmodal-exposure0.0.7 (unchanged)✅✅
libmodal-json0.4.2 (unchanged)✅✅
libmodal-pipe2.1.7 –> 2.4.0✅✅
libqrb5165-io0.1.0 (unchanged) ✅
librc-math1.1.8 (unchanged)✅✅
libvoxl-cutils0.1.1 (unchanged)✅✅
mavlink-camera-manager0.0.6 –> 0.1.0✅ 
qrb5165-dfs-server0.0.4 –> 0.0.5 ✅
qrb5165-imu-server0.2.0 –> 0.2.4 ✅
qrb5165-system-tweaks0.1.2 –> 0.1.3 ✅
qrb5165-tflite2.8.0-2 (unchanged) ✅
voxl-bind0.0.1 (new) ✅
voxl-camera-calibration0.1.5 –> 0.2.2✅✅
voxl-camera-server1.1.0 (new)✅✅
voxl-ceres-solver1.14.0-5 –> 1.14.0-7✅✅
voxl-cpu-monitor0.2.5 –> 0.2.6✅✅
voxl-docker-support1.2.4 (unchanged)✅✅
voxl-gphoto2-server0.0.10 (unchanged)✅ 
voxl-jpeg-turbo2.1.3-4 (unchanged)✅✅
voxl-libgphoto20.0.4 (unchanged)✅✅
voxl-libuvc1.0.6 (unchanged)✅✅
voxl-logger0.1.2 –> 0.3.2✅✅
voxl-mapper0.0.6 –> 0.0.7✅✅
voxl-mavlink0.0.7 –> 0.1.0✅✅
voxl-mavlink-server0.1.1 –> 0.1.3✅✅
voxl-modem0.15.1 –> 0.15.2✅✅
voxl-mongoose7.6.0 (unchanged)✅✅
voxl-mpa-tools0.6.3 –> 0.7.2✅✅
voxl-mpa-to-ros0.3.2 –> 0.3.3✅✅
voxl-nlopt2.5.0-4 (unchanged)✅✅
voxl-opencv4.5.5-1 (unchanged)✅✅
voxl-portal0.2.6 –> 0.2.8✅✅
voxl-px41.4.16 (new) ✅
voxl-px4-imu-server0.1.1 –> 0.1.2 ✅
voxl-qvio-server0.4.6 –> 0.7.1✅✅
voxl-streamer0.3.1 –> 0.3.6✅✅
voxl-tag-detector0.0.4 (unchanged)✅✅
voxl-tflite-server0.2.3 –> 0.2.7✅✅
voxl-utils1.1.1 –> 1.1.4✅✅
voxl-uvc-server0.1.1 (unchanged)✅✅
voxl-vision-px41.0.5 –> 1.2.0✅✅
voxl-voxblox1.0.3 –> 1.0.4✅✅
voxl-vpn0.0.6 (unchanged)✅ 

v0.7.0

Requires VOXL system image 3.8+ or VOXL2 system image 1.2.1+

This is the first SDK release with support for both VOXL (APQ8096) and VOXL2 (QRB5165). Every package has been updated with dual-platform support (where applicable) and the entire SDK is now built via CI.

Starting with V0.7.0, the new SDK repository is hosted at http://voxl-packages.modalai.com/dists/.

* RENAME PACKAGE:    voxl-camera-server > apq8096-camera-server (apq8096 only)
* RENAME PACKAGE:    voxl-imu-server > apq8096-imu-server (apq8096 only)
* RENAME PACKAGE:    libvoxl_io > libapq8096-io (apq8096 only)
* NEW PACKAGE:       qrb5165-camera-server (qrb5165-only)
* NEW PACKAGE:       qrb5165-imu-server (qrb5165-only)
* NEW PACKAGE:       qrb5165-dfs-server (qrb5165-only)
* NEW PACKAGE:       libmodal-cv
* NEW PACKAGE:       voxl-mavlink-server
* NEW PACKAGE:       voxl-px4-imu-server (qrb5165 only)
* NEW PACKAGE:       libqrb5165-io (qrb5165-only)
* NEW PACKAGE:       qrb5165-tflite (qrb5165-only)
* NEW PACKAGE:       voxl-px4 (qrb5165-only)
* IMPROVEMENT:       voxl-camera-calibration accuracy and usability
* IMPROVEMENT:       voxl-vision-px4 talks to PX4 through voxl-mavlink-server
* IMPROVEMENT:       voxl-portal: dynamic image quality, point cloud viewer
* CLEANUP:           Remove old wizard from voxl-configure-mpa
* NEW TOOL:          voxl-configure-pkg-manager
PackageVersionAPQ8096QRB5165
apq8096-camera-server0.9.0 (new)✅ 
apq8096-dfs-server0.2.6 (new)✅ 
apq8096-imu-server1.0.1 (new)✅ 
apq8096-rangefinder-server0.1.0 (new)✅ 
apq8096-system-tweaks0.1.2 (new)✅ 
apq8096-tflite2.2.3-4 (new)✅ 
libapq8096-io0.5.8 (new)✅ 
libmodal-cv0.0.5 (new)✅✅
libmodal-exposure0.0.7 (new)✅✅
libmodal-json0.4.2 (new)✅✅
libmodal-pipe2.1.7 (new)✅✅
libqrb5165-io0.1.0 (new) ✅
librc-math1.1.8 (new)✅✅
libvoxl-cutils0.1.1 (new)✅✅
mavlink-camera-manager0.0.2 –> 0.0.6✅ 
qrb5165-camera-server0.2.0 (new) ✅
qrb5165-dfs-server0.0.4 (new) ✅
qrb5165-imu-server0.2.0 (new) ✅
qrb5165-system-tweaks0.1.2 (new) ✅
qrb5165-tflite2.8.0-2 (new) ✅
voxl-camera-calibration0.1.1 –> 0.1.5✅✅
voxl-ceres-solver1.14.0-5 (new)✅✅
voxl-cpu-monitor0.2.0 –> 0.2.5✅✅
voxl-docker-support1.1.3 –> 1.2.4✅✅
voxl-gphoto2-server0.0.10 (new)✅ 
voxl-jpeg-turbo2.1.3-4 (new)✅✅
voxl-libgphoto20.0.4 (new)✅✅
voxl-libuvc1.0.6 (new)✅✅
voxl-logger0.1.2 (new)✅✅
voxl-mapper0.0.6 (new)✅✅
voxl-mavlink0.0.2 –> 0.0.7✅✅
voxl-mavlink-server0.1.1 (new)✅✅
voxl-modem0.12.0 –> 0.15.1✅✅
voxl-mongoose7.6.0 (new)✅✅
voxl-mpa-tools0.3.6 –> 0.6.3✅✅
voxl-mpa-to-ros0.3.2 (new)✅✅
voxl-nlopt2.5.0-4 (new)✅✅
voxl-opencv4.5.5-1 (new)✅✅
voxl-portal0.1.2 –> 0.2.6✅✅
voxl-px4-imu-server0.1.1 (new) ✅
voxl-qvio-server0.3.4 –> 0.4.6✅✅
voxl-streamer0.2.6 –> 0.3.1✅✅
voxl-tag-detector0.0.2 –> 0.0.4✅✅
voxl-tflite-server0.1.5 –> 0.2.3✅✅
voxl-utils0.8.5 –> 1.1.1✅✅
voxl-uvc-server0.1.1 (new)✅✅
voxl-vision-px40.9.5 –> 1.0.4✅✅
voxl-voxblox1.0.3 (new)✅✅
voxl-vpn0.0.3 –> 0.0.6✅ 

v0.5.0

Requires VOXL system image 3.3+

* NEW TOOL:    voxl-calibrate-cameras utility
* NEW TOOL:    imu thermal calibration
* NEW TOOL:    voxl-configure-opkg
* NEW TOOL:    voxl-calibrate-px4-horizon tool
* NEW TOOL:    voxl-portal web interface
* NEW TOOL:    voxl-wait-for-fs service
* NEW TOOL:    voxl-list-pipes
* ADDITION:    libmodal_pipe pause-resume function
* ADDITION:    voxl-configure extrinsics add support for Starling
* ADDITION:    voxl-mpa-to-ROS dynamic pipe detection (no more config!!)
* IMPROVEMENT: file system syncs more frequently
* IMPROVEMENT: voxl-qvio-reset is more complete
* IMPROVEMENT: voxl-configure cameras wizard tweaks
* IMPROVEMENT: voxl-configure-mpa support new part numbers
* IMPROVEMENT: voxl-inspect-services speedup
* IMPROVEMENT: too many little tweaks and fixes to list
PackagePackage Version
libjpeg_turbo9.0.4+
libmodal_exposure0.0.2+
libmodal_json0.3.6+
libmodal_pipe2.1.1+
librc_math1.1.5+
libvoxl_cutils0.0.2+
libvoxl_io0.5.4+
mavlink-camera-manager0.0.2+
mongoose7.3.0+
opencv4.5.2-2+
openmp10.0.2+
voxl-camera-calibration0.1.1+
voxl-camera-server0.7.1+
voxl-cpu-monitor0.2.0+
voxl-dfs-server0.2.2+
voxl-docker-support1.1.3+
voxl-gphoto20.0.5+
voxl-imu-server0.9.1+
voxl-mavlink0.12.0+
voxl-modem0.0.2+
voxl-mpa-tools0.3.6+
voxl-nodes0.2.0+
voxl-portal0.1.1+
voxl-qvio-server0.3.4+
voxl-streamer0.2.6+
voxl-tag-detector0.0.2+
voxl-tflite2.2.3+
voxl-tflite-server0.1.5+
voxl-utils0.8.4+
voxl-vision-px40.9.5+
voxl-vpn0.0.3+

v0.4.6

Requires System Image 3.3+

Contains the following packages:

PackagePackage Version
voxl-utils0.7.1+
voxl-mpa-tools0.2.6+
libmodal_exposure0.0.2+
libmodal_json0.3.5+
libmodal_pipe2.0.7+
librc_math1.1.5+
libvoxl_cutils0.0.2+
libvoxl_io0.5.4+
mavlink-camera-manager0.0.2+
opencv4.5.2-1+
openmp10.0.2+
voxl-camera-server0.7.1+
voxl-cpu-monitor0.1.7+
voxl-dfs-server0.2.0+
voxl-docker-support1.1.3+
voxl-gphoto20.0.5+
voxl-imu-server0.8.1+
voxl-modem0.12.0+
voxl-nodes0.1.6+
voxl-qvio-server0.3.1+
voxl-streamer0.2.3+
voxl-tflite(no repo)0.0.1+
voxl-tflite-server0.1.0+
voxl-vision-px40.9.2+
voxl-vpn0.0.3+

v0.3.4

Requires System Image 3.2+

Contains the following packages:

PackagePackage Version
voxl-utils0.6.0+
libmodal_json0.3.4+
libmodal_pipe1.7.8+
librc_math1.1.4+
mavlink-camera-manager0.0.1+
opencv4.5.1+
openmp10.0.1+
voxl-camera-server0.5.6+
voxl-dfs-server0.0.7+
voxl-docker-support1.1.1+
voxl-gphoto20.0.5+
voxl-hal3-tof-cam-ros0.0.5+
voxl-imu-server0.7.8+
voxl-modem0.11.0+
voxl-mpa-tflite-server0.0.2+
voxl-mpa-tools0.1.6+
voxl-nodes0.1.0+
voxl-qvio-server0.2.1+
voxl-rtsp1.0.3+
voxl-streamer0.2.1+
voxl-vision-px40.8.1+
voxl-vpn0.0.3+

v0.2.0

Changes:

  • Updated voxl-vision-px4, PX4 disconnect detection, better handling of ‘CRC errors’, UART port and baud configurable, keep publishing data if VIO is off, wizard improvements
  • Updated voxl-modem, added LTE v2 support
  • Updated voxl-utils, added voxl-backup util for camera calibration backup
  • Added new voxl-vpn package
  • Added new voxl-time-sync package
  • Removed ffmpeg as it’s normally used via Docker containers

Contains the following packages:

PackagePackage Version
docker1.9.0
imu_app0.0.6
libmodal_pipe1.2.2
librc_math1.1.2
modalai-vl0.1.3
libvoxl_io0.5.2
voxl-cam-manager0.2.2
voxl-docker-support1.1.1
voxl-hal3-tof-cam-ros0.0.2
voxl-modem0.10.0
voxl-nodes0.0.8
voxl-rtsp1.0.2
voxl-time-sync0.0.1
voxl-utils0.5.2
voxl-vision-px40.6.8
voxl-vpn0.0.2
voxl_imu0.0.4

Tested against:

  • System Image 2.5.2-1.0.1
  • System Image 2.3.0-1.0.1

v0.1.1

Contains the following packages:

PackagePackage Version (min)
docker1.9.0
ffmpeg4.2.2
imu_app0.0.6
librc_math1.1.2
libvoxl_io0.4.1
libvoxl_pipe1.0.1
modalai-vl0.1.3
voxl-cam-manager0.2.2
voxl-docker-support1.1.1
voxl-hal3-tof-cam-ros0.0.2
voxl-modem0.9.3
voxl-nodes0.0.8
voxl-rtsp1.0.2
voxl-utils0.5.1
voxl-vision-px40.6.1
voxl_imu0.0.4

Tested against: System Image 2.3.0-1.0.1