VOXL Supporting Software

Overview

VOXL’s software stack is broken up into 3 parts, each with their own version and ability to upgrade independently or all together.

  • VOXL System Image: This includes the root file system and bootloader partitions. It is only necessary to update the system image to add new hardware driver support.
  • VOXL Factory Bundle: This contains proprietary and 3rd party software packages (updated infrequently).
  • voxl-suite: precompiled packages of ModalAI-developed open-source software (updated regularly)

The System Image and Factory Bundle are available at https://developer.modalai.com/asset. The voxl-suite package uses an OPKG package manager and is hosted here. The installer at the link below will offer to install the voxl-suite for you as the last step.

All three packages are loaded on VOXL boards at the factory but can be updated by the user at any time using the instructions in VOXL Quickstarts.

voxl-suite

The voxl-suite packages are described and maintaned here.

VOXL Factory Bundle

v1.0.1

Note: System Image 2.3.0+ is required to use Factory Bundle v1.0.1

Package list:

Name Package Notes
aufs-util aufs-util_3.14+git0+b59a2167a1-r0_aarch64.ipk Required for Docker on VOXL
avahi-daemon avahi-daemon_0.6.31-r11.1_aarch64_js.ipk  
cgroup-lite cgroup-lite_1.1-r0_aarch64.ipk Required for Docker on VOXL
royale-331-spectre-4-7 latest_royale-331-spectre-4-7_0.0.1_8x96.ipk Required for A65 Time-of-Flight
lib32-git-perltools lib32-git-perltools_2.5.0-r0_armv7a-vfp-neon.ipk  
libavahi-common3 libavahi-common3_0.6.31-r11.1_aarch64.ipk  
libavahi-core7 libavahi-core7_0.6.31-r11.1_aarch64.ipk  
libcgroup libcgroup_0.41-r0_aarch64.ipk Required for Docker on VOXL
libdaemon0 libdaemon0_0.14-r0_aarch64.ipk  
libncurses libncursesw5_5.9-r15.1_aarch64.ipk Required for Docker on VOXL
libnss-mdns libnss-mdns_0.10-r7_aarch64.ipk  
libsmartcols libsmartcols1_2.26.2-r0_aarch64.ipk Required for Docker on VOXL
libsystemd libsystemd0_225+git0+e1439a1472-r0_aarch64 Required for Docker on VOXL
Qualcomm Machine Vision SDK mv_1.2.8_8x96.ipk Qualcomm Developer Network
ROS Indigo Build Deps ros-indigo-build-deps_1.0.1.ipk Source
util-linux util-linux_2.26.2-r0_aarch64_js.ipk Required for Docker on VOXL
util-linux-losetup util-linux-losetup_2.26.2-r0_aarch64.ipk Required for Docker on VOXL
util-linux-swaponoff util-linux-swaponoff_2.26.2-r0_aarch64.ipk Required for Docker on VOXL
util-linux-umount util-linux-umount_2.26.2-r0_aarch64.ipk Required for Docker on VOXL
voxl-utils voxl-utils_0.5.1.ipk Source

v0.0.3, v0.0.4, v0.0.5

Note: the factory version is bumped to stay in sync with software bundle version

Package list:

Name Package Notes
aufs-util aufs-util_3.14+git0+b59a2167a1-r0_aarch64.ipk Required for Docker on VOXL
avahi-daemon avahi-daemon_0.6.31-r11.1_aarch64_js.ipk  
cgroup-lite cgroup-lite_1.1-r0_aarch64.ipk Required for Docker on VOXL
ffmpeg ffmpeg_3.4.5_8x96_js.ipk Source
lib32-git-perltools lib32-git-perltools_2.5.0-r0_armv7a-vfp-neon.ipk  
libavahi-common3 libavahi-common3_0.6.31-r11.1_aarch64.ipk  
libavahi-core7 libavahi-core7_0.6.31-r11.1_aarch64.ipk  
libcgroup libcgroup_0.41-r0_aarch64.ipk Required for Docker on VOXL
libdaemon0 libdaemon0_0.14-r0_aarch64.ipk  
libncurses libncursesw5_5.9-r15.1_aarch64.ipk Required for Docker on VOXL
libnss-mdns libnss-mdns_0.10-r7_aarch64.ipk  
libsmartcols libsmartcols1_2.26.2-r0_aarch64.ipk Required for Docker on VOXL
libsystemd libsystemd0_225+git0+e1439a1472-r0_aarch64 Required for Docker on VOXL
Qualcomm Machine Vision SDK mv_1.2.8_8x96.ipk Qualcomm Developer Network
ROS Indigo Build Deps ros-indigo-build-deps_1.0.1.ipk Source
util-linux util-linux_2.26.2-r0_aarch64_js.ipk Required for Docker on VOXL
util-linux-losetup util-linux-losetup_2.26.2-r0_aarch64.ipk Required for Docker on VOXL
util-linux-swaponoff util-linux-swaponoff_2.26.2-r0_aarch64.ipk Required for Docker on VOXL
util-linux-umount util-linux-umount_2.26.2-r0_aarch64.ipk Required for Docker on VOXL

You can check the version of the VOXL Factory Bundle by looking at the version file.

cat /etc/modalai/voxl-factory-bundle-version.txt
0.0.5

VOXL Software Bundle

Note: as of System Image 2.3.0, this is considered legacy. It is replaced with the voxl-suite packages

V0.0.5

Changes:

  • Added support for ICM-42688 in imu_app_0.0.5_8x96.ipk for factory test

The package list:

Name Package Notes
  cellular_tools_0.2.0_8x96.ipk  
Docker docker_1.9.0+git…aarch64.ipk  
IMU app imu_app_0.0.5_8x96.ipk Soon to be replaced by voxl-imu
RC Math Library librc_math_1.0.1.ipk Source
VOXL IO Library libvoxl_io_0.0.6.ipk Source
ModalAI Vision Lib modalai-vl_0.1.0_8x96.ipk  
VOXL Camera Manager voxl-cam-manager_0.2.1.ipk Source
VOXL Docker Support voxl-docker-support_1.1.0.ipk Source
VOXL IMU voxl_imu_0.0.4_8x96.ipk  
VOXL ROS Nodes voxl-nodes_0.0.6_8x96.ipk Source
[VOXL RTSP] voxl-rtsp_1.0.0_8x96.ipk Source
VOXL Utils voxl-utils_0.4.6.ipk Source
VOXL Vision PX4 voxl-vision-px4_0.4.1_8x96.ipk Source

V0.0.4

Changes:

  • Improvements in voxl-vision-px4

The package list:

Name Package Notes
  cellular_tools_0.2.0_8x96.ipk  
Docker docker_1.9.0+git…aarch64.ipk  
IMU app imu_app_0.0.5_8x96.ipk Soon to be replaced by voxl-imu
RC Math Library librc_math_1.0.1.ipk Source
VOXL IO Library libvoxl_io_0.0.6.ipk Source
ModalAI Vision Lib modalai-vl_0.1.0_8x96.ipk  
VOXL Camera Manager voxl-cam-manager_0.2.1.ipk Source
VOXL Docker Support voxl-docker-support_1.1.0.ipk Source
VOXL IMU voxl_imu_0.0.4_8x96.ipk  
VOXL ROS Nodes voxl-nodes_0.0.6_8x96.ipk Source
[VOXL RTSP] voxl-rtsp_1.0.0_8x96.ipk Source
VOXL Utils voxl-utils_0.4.6.ipk Source
VOXL Vision PX4 voxl-vision-px4_0.4.1_8x96.ipk Source

V0.0.3

The package list:

Name Package Notes
  cellular_tools_0.1.5_8x96.ipk  
Docker docker_1.9.0+git…aarch64.ipk  
IMU app imu_app_0.0.3_8x96.ipk Soon to be replaced by voxl-imu
RC Math Library librc_math_1.0.1.ipk Source
VOXL IO Library libvoxl_io_0.0.6.ipk Source
ModalAI Vision Lib modalai-vl_0.0.8_8x96.ipk  
VOXL Camera Manager voxl-cam-manager_0.2.1.ipk Source
VOXL Docker Support voxl-docker-support_1.1.0.ipk Source
VOXL IMU voxl_imu_0.0.3_8x96.ipk  
VOXL ROS Nodes voxl-nodes_0.0.6_8x96.ipk Source
[VOXL RTSP] voxl-rtsp_1.0.0_8x96.ipk Source
VOXL Utils voxl-utils_0.4.4.ipk Source
VOXL Vision PX4 voxl-vision-px4_0.4.0_8x96.ipk Source

Checking Version

Run the following command:

voxl-version

or you can check the version of the VOXL Software Bundle by looking at the version file:

cat /etc/modalai/voxl-software-bundle-version.txt
0.0.5

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