usefull comands

voxl

systemctl restart voxl-vision-px4

copy and paste into voxl

scp sth.txt root@172.16.0.30:~/catkin_ws

adb

details in voxl-vision-px4

voxl-docker

if voxl-emulator does not start and sends an error like this:

exec /opt/container/bin/adduser-sdk.sh: exec format error

run

$ docker run --rm --privileged multiarch/qemu-user-static --reset -p yes

mkdir -p ~/voxl_test_ws/src && cd ~/voxl_test_ws

catkin init

docker setup for running Ubuntu and ROS

• configure the docker support on voxl: voxl-configure-docker-support.sh be mindful of the command available on your platform. (it cab be run in w/ and w/o bash)

• running docker + mounting the VOXL's Yocto home directory inside the docker image at ~/yoctohome/

docker run -it --rm --privileged --net=host --name roskinetic -v /home/root:/root/yoctohome/:rw -w /root/ roskinetic-xenial:v1.0 /bin/bash

or

voxl-docker -i roskinetic-xenial:v1.0

for the details of voxl-docker, check out voxl-docker.sh in the voxl-docker repo.

Docker build - multi-arch

Jetson and VOXL have an arm64 architecture while our developing computer is amd64. How to build on amd64 and deploy on arm64?

Solutions: see here

• using QEMU to build on your workstation (x86_64 platform) and run it on an NVIDIA Jetson or VOXL with ARM architecture.
• Multi-arch builds and Github actions for CI: docker manifest or docker buildx. See here for instructions and comparisons.
• Multi-arch builds and Gitlab CI. here

se also, Use Docker to build Docker images and IBM GitLab CI and .gitlab-ci.yml gist

save from host and load on VOXL

in host:

docker save neoros:v0 | gzip > neoros.tar.gz
# when it's done run the following
scp docker/neoros.tar.gz root@172.16.0.30:/data/docker
# when it's done move to the voxl

in voxl:

voxl:/data/docker$ docker load -i neoros.tar.gz
# takes time, up to 20 mins
docker run -it --rm --privileged --net=host --name rosnoetic -v /home/root:/root/yoctohome/:rw -w /root/ neoros:v0 /bin/bash
# /bin/bash: /bin/bash: cannot execute binary file

running without /bin/bash works.

in voxl:

/ # docker version
Client:
 Version:      1.9.0
 API version:  1.21
 Go version:   go1.6.2
 Git commit:   76d6bc9-dirty
 Built:        Wed Aug 28 17:05:35 UTC 2019
 OS/Arch:      linux/arm64
Cannot connect to the Docker daemon. Is the docker daemon running on this host?

and

/ # voxl-version
cat: /etc/modalai/voxl-software-bundle-version.txt: No such file or directory
--------------------------------------------------------------------------------
system-image:    ModalAI 3.6.0 BUILDER: ekatzfey BUILD_TIME: 2022-02-28_23:47
kernel:          #1 SMP PREEMPT Mon Feb 28 23:55:47 UTC 2022 3.18.71-perf
factory-bundle:  1.0.1 (Yocto installation)
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-suite:
Package: voxl-suite
Version: 0.5.0
Depends: libjpeg_turbo (>= 9.0.4), libmodal_exposure (>= 0.0.2), libmodal_json (>= 0.3.6), libmodal_pipe (>= 2.1.1), librc_math (>= 1.1.5), libvoxl_cutils (>= 0.0.2), libvoxl_io (>= 0.5.4), mavlink-camera-manager (>= 0.0.2), mongoose (>= 7.3.0), opencv (>= 4.5.2-2), openmp (>= 10.0.2), voxl-camera-calibration (>= 0.1.1), voxl-camera-server (>= 0.8.1), voxl-cpu-monitor (>= 0.2.0), voxl-dfs-server (>= 0.2.2), voxl-docker-support (>= 1.1.3), voxl-gphoto2 (>= 0.0.5), voxl-imu-server (>= 0.9.1), voxl-mavlink (>= 0.0.2), voxl-modem (>= 0.12.0), voxl-mpa-tools (>= 0.3.6), voxl-nodes (>= 0.2.0), voxl-portal (>= 0.1.2), voxl-qvio-server (>= 0.3.4), voxl-streamer (>= 0.2.6), voxl-tag-detector (>= 0.0.2), voxl-tflite (>= 2.2.3), voxl-tflite-server (>= 0.1.5), voxl-utils (>= 0.8.4), voxl-vision-px4 (>= 0.9.5), voxl-vpn (>= 0.0.3)
Status: install user installed
Architecture: all
Installed-Time: 236

--------------------------------------------------------------------------------
/ # 

voxl suite version 0.5 has docker engine ver. 1.9.0 (2015)