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VOXL Suite

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 consolidated into a meta-package, voxl-suite_x.x.x.ipk, that depends on all of the core ModalAI tools and services.

The voxl-suite package and its dependencies are distributed via the OPKG package manager with repositories available at http://voxl-packages.modalai.com/. For more information see the configuring OPKG page on how to configure and update packages.

voxl-suite is also bundled up with our system image releases to create what’s called a “platform release” available at downloads.modalai.com.

The voxl-suite meta package depends on the latest stable version of all of its constituents, therefore regular calls to opkg update && opkg upgrade on VOXL or apt update && apt upgrade on VOXL2/RB5 will keep you up to date with bugfixes before a new voxl-suite and new platform release is published. voxl-suite releases are landmarks in an otherwise continuous software development process.

The source used to generate the voxl-suite metapackage can be found here.

Table of contents

  1. v0.7.0
  2. v0.5.0
  3. v0.4.6
  4. v0.3.3
  5. v0.2.0
  6. v0.1.1

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

v0.4.6

Requires System Image 3.3+

Contains the following packages:

v0.3.3

Requires System Image 3.2+

Contains the following packages:

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