2‐Localization Set up - LOG795-UAV-Search-and-Rescue/documentation GitHub Wiki

Setup & Networking Guide

Drone (VOXL) + UGV (Jetson/ESP32) + Laptop System

This section ensures that all devices communicate, and localization works before launching follow behaviors.

Component	Role
VOXL (Drone)	Provides VIO + sends pose + commands
UGV Jetson	Receives position commands + runs rover sim/real control
ESP32	Executes wheel motor JSON commands
Laptop	Receives VIO, runs control logic, can simulate rover

Network Requirement:
All devices must be connected to the same network (192.168.8.x VOXL subnet recommended).

VOXL creates Wi-Fi AP:

SSID: voxl
Password: voxl
IP: 192.168.8.1

Laptop & UGV connect to the VOXL network.

Enable any missing component:

sudo systemctl enable <service>
sudo systemctl start <service>

Run to verify VIO streaming:

sudo voxl-inspect-qvio

Expected output:

T_imu_wrt_vio (m) | Roll Pitch Yaw | features | quality | state
-0.05 0.11 0.02   | 5.1 -2.9 0.4  | 27       | 94%     | OKAY

If quality stays above 30% when moving → good tracking
If quality drops to ~1% → reset handling will trigger

On VOXL:

ping <Laptop-IP>

Laptop listener:

nc -ul 5005

Then move drone — you should see values.

To send scripts to VOXL:

scp read_vio_send_udp.py [email protected]:/PFE/code/

To SSH:

ssh [email protected]

Password: voxl

Check	OK?
VOXL services running
Laptop & UGV connected to VOXL Wi-Fi
`voxl-inspect-qvio` shows movement & good quality
UDP packets received on laptop (`nc` test)
Python control script runs without errors

Only then run rover control script:

python3 rover_follow_sim.py