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VOXL Suite

Table of contents

  1. Overview
  2. Upgrade voxl-suite
  3. CHANGELOG
    1. v0.8.0
    2. v0.7.0
    3. v0.5.0
    4. v0.4.6
    5. v0.3.4
    6. v0.2.0
    7. 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 consolidated into a meta-package, voxl-suite_x.x.x.ipk, that depends on all of the core ModalAI tools and services.

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

Upgrade voxl-suite

To upgrade the full platform release, follow the flash system image instructions.

To upgrade just the SDK if you are already on the latest required system image: see the voxl-configure-pkg-manager page on how to configure and pull from different SDK releases.

CHANGELOG

v0.8.0

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

This SDK is BETA only for VOXL since it includes camera server updates allowing improved support for most cameras but no 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

v0.4.6

Requires System Image 3.3+

Contains the following packages:

v0.3.4

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