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Problem while launching bebop_driver #205

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SekenWang opened this issue Nov 11, 2019 · 5 comments
Open

Problem while launching bebop_driver #205

SekenWang opened this issue Nov 11, 2019 · 5 comments

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@SekenWang
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SekenWang commented Nov 11, 2019 •
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I have searched the issues but it seems that nobody had faced this problem before.When I try to run sphinx and bebop_autonomy on one PC, I always get the same error that the processes cant connect when I try to launch the driver as a node.

[ERROR] [1573469382.718337611]: [ARDISCOVERY_Connection] 18:49:42:718 | ARDISCOVERY_Connection_ControllerInitSocket:669 - connect() SO_ERROR: 111 Connection refused

Begging for your help,and best regards.
Btw, here are my launch file , drone file together with the terminal report:

launch:

?xml version="1.0"?>
launch>
arg name="namespace" default="bebop_leader" />
arg name="ip" default="10.202.0.1" />
arg name="drone_type" default="bebop2" />
arg name="config_file" default="$(find bebop_driver)/config/defaults.yaml" />
arg name="camera_info_url" default="package://bebop_driver/data/$(arg drone_type)_camera_calib.yaml" />
group ns="$(arg namespace)">
node pkg="bebop_driver" name="bebop_driver" type="bebop_driver_node" output="screen">
param name="camera_info_url" value="$(arg camera_info_url)" />
param name="bebop_ip" value="$(arg ip)" />
rosparam command="load" file="$(arg config_file)" />
/node>
include file="$(find bebop_description)/launch/description.launch" />
/group>
/launch>

drone:
?xml version="1.0" encoding="UTF-8"?>
drone
name="bebop_leader"
firmware="/home/seken/mycode/workspace/drl-landing/src/bebop_autonomy/bebop_description/model/ardrone3-milos_pc.ext2.zip"
hardware="milosboard">
machine_params
low_gpu="ture"
with_front_cam="true"
with_hd_battery="false"
with_flir="false"
flir_pos="tilted"/>
pose>default
interface>eth1
stolen_interface>wlan0:eth0:192.168.42.1/24</stolen_interface>
/drone>

and here is the terminal report:
SUMMARY

PARAMETERS

  • /bebop_leader/bebop_driver/bebop_ip: 10.202.0.1
  • /bebop_leader/bebop_driver/camera_info_url: package://bebop_d...
  • /bebop_leader/bebop_driver/cmd_vel_timeout: 0.2
  • /bebop_leader/bebop_driver/odom_frame_id: odom
  • /bebop_leader/bebop_driver/publish_odom_tf: True
  • /bebop_leader/bebop_driver/reset_settings: True
  • /bebop_leader/bebop_driver/states/enable_altitudechanged: True
  • /bebop_leader/bebop_driver/states/enable_autotakeoffmodechanged: True
  • /bebop_leader/bebop_driver/states/enable_camerastate_orientation: True
  • /bebop_leader/bebop_driver/states/enable_commonstate_batterystatechanged: True
  • /bebop_leader/bebop_driver/states/enable_commonstate_wifisignalchanged: True
  • /bebop_leader/bebop_driver/states/enable_controllerstate_ispilotingchanged: True
  • /bebop_leader/bebop_driver/states/enable_flightplanstate_availabilitystatechanged: True
  • /bebop_leader/bebop_driver/states/enable_flightplanstate_componentstatelistchanged: True
  • /bebop_leader/bebop_driver/states/enable_gpsstate_numberofsatellitechanged: True
  • /bebop_leader/bebop_driver/states/enable_mavlinkstate_mavlinkfileplayingstatechanged: True
  • /bebop_leader/bebop_driver/states/enable_mavlinkstate_mavlinkplayerrorstatechanged: True
  • /bebop_leader/bebop_driver/states/enable_mediastreamingstate_videoenablechanged: True
  • /bebop_leader/bebop_driver/states/enable_numberofsatellitechanged: True
  • /bebop_leader/bebop_driver/states/enable_overheatstate_overheatchanged: True
  • /bebop_leader/bebop_driver/states/enable_pilotingstate_altitudechanged: True
  • /bebop_leader/bebop_driver/states/enable_pilotingstate_attitudechanged: True
  • /bebop_leader/bebop_driver/states/enable_pilotingstate_flattrimchanged: True
  • /bebop_leader/bebop_driver/states/enable_pilotingstate_flyingstatechanged: True
  • /bebop_leader/bebop_driver/states/enable_pilotingstate_navigatehomestatechanged: True
  • /bebop_leader/bebop_driver/states/enable_pilotingstate_positionchanged: True
  • /bebop_leader/bebop_driver/states/enable_pilotingstate_speedchanged: True
  • /bebop_leader/robot_description: <?xml version="1....
  • /rosdistro: kinetic
  • /rosversion: 1.12.14

NODES
/bebop_leader/
bebop_driver (bebop_driver/bebop_driver_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master
process[master]: started with pid [22788]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to f6cdf364-0470-11ea-8b5b-40b0344f6594
process[rosout-1]: started with pid [22813]
started core service [/rosout]
process[bebop_leader/bebop_driver-2]: started with pid [22820]
process[bebop_leader/robot_state_publisher-3]: started with pid [22822]
[ INFO] [1573469382.491885679]: Initializing nodelet with 4 worker threads.
[ INFO] [1573469382.540630523]: [BebopSDK] 18:49:42:540 | Bebop:225 - Bebop Cnstr()
[ INFO] [1573469382.540720074]: Nodelet Cstr
[ INFO] [1573469382.562761306]: Connecting to Bebop ...
[ INFO] [1573469382.575856864]: [CB] 18:49:42:575 | Ardrone3PilotingStateFlatTrimChanged:388 - [STATES] Enabling states/ardrone3/PilotingState/FlatTrimChanged
[ INFO] [1573469382.582449301]: [CB] 18:49:42:582 | Ardrone3PilotingStateFlyingStateChanged:432 - [STATES] Enabling states/ardrone3/PilotingState/FlyingStateChanged
[ INFO] [1573469382.594782591]: [CB] 18:49:42:594 | Ardrone3PilotingStateNavigateHomeStateChanged:534 - [STATES] Enabling states/ardrone3/PilotingState/NavigateHomeStateChanged
[ INFO] [1573469382.596264390]: [CB] 18:49:42:596 | Ardrone3PilotingStatePositionChanged:592 - [STATES] Enabling states/ardrone3/PilotingState/PositionChanged
[ INFO] [1573469382.598638422]: [CB] 18:49:42:598 | Ardrone3PilotingStateSpeedChanged:657 - [STATES] Enabling states/ardrone3/PilotingState/SpeedChanged
[ INFO] [1573469382.600110076]: [CB] 18:49:42:600 | Ardrone3PilotingStateAttitudeChanged:722 - [STATES] Enabling states/ardrone3/PilotingState/AttitudeChanged
[ INFO] [1573469382.602561735]: [CB] 18:49:42:602 | Ardrone3PilotingStateAltitudeChanged:838 - [STATES] Enabling states/ardrone3/PilotingState/AltitudeChanged
[ INFO] [1573469382.612360128]: [CB] 18:49:42:612 | Ardrone3MediaStreamingStateVideoEnableChanged:1388 - [STATES] Enabling states/ardrone3/MediaStreamingState/VideoEnableChanged
[ INFO] [1573469382.615059601]: [CB] 18:49:42:615 | Ardrone3CameraStateOrientation:1490 - [STATES] Enabling states/ardrone3/CameraState/Orientation
[ INFO] [1573469382.630671653]: [CB] 18:49:42:630 | Ardrone3GPSStateNumberOfSatelliteChanged:1882 - [STATES] Enabling states/ardrone3/GPSState/NumberOfSatelliteChanged
[ INFO] [1573469382.645697018]: [CB] 18:49:42:645 | CommonCommonStateBatteryStateChanged:148 - [STATES] Enabling states/common/CommonState/BatteryStateChanged
[ INFO] [1573469382.659636489]: [CB] 18:49:42:659 | CommonCommonStateWifiSignalChanged:510 - [STATES] Enabling states/common/CommonState/WifiSignalChanged
[ INFO] [1573469382.669730790]: [CB] 18:49:42:669 | CommonOverHeatStateOverHeatChanged:1023 - [STATES] Enabling states/common/OverHeatState/OverHeatChanged
[ INFO] [1573469382.671548771]: [CB] 18:49:42:671 | CommonMavlinkStateMavlinkFilePlayingStateChanged:1118 - [STATES] Enabling states/common/MavlinkState/MavlinkFilePlayingStateChanged
[ INFO] [1573469382.672624363]: [CB] 18:49:42:672 | CommonMavlinkStateMavlinkPlayErrorStateChanged:1183 - [STATES] Enabling states/common/MavlinkState/MavlinkPlayErrorStateChanged
[ INFO] [1573469382.692279805]: [CB] 18:49:42:692 | CommonFlightPlanStateAvailabilityStateChanged:1568 - [STATES] Enabling states/common/FlightPlanState/AvailabilityStateChanged
[ INFO] [1573469382.694484296]: [CB] 18:49:42:694 | CommonFlightPlanStateComponentStateListChanged:1619 - [STATES] Enabling states/common/FlightPlanState/ComponentStateListChanged
[ INFO] [1573469382.718019180]: [ARCONTROLLER_Network] 18:49:42:717 | ARCONTROLLER_Network_GetAvailableSocketPort:128 - d2c_port port: 43210
[ INFO] [1573469382.718183358]: [ARCONTROLLER_Stream2] 18:49:42:718 | ARCONTROLLER_Stream2_Open_Socket:143 - udp local port stream: 55004
[ INFO] [1573469382.718211631]: [ARCONTROLLER_Stream2] 18:49:42:718 | ARCONTROLLER_Stream2_Open_Socket:143 - udp local port control: 55005
[ERROR] [1573469382.718337611]: [ARDISCOVERY_Connection] 18:49:42:718 | ARDISCOVERY_Connection_ControllerInitSocket:669 - connect() SO_ERROR: 111 Connection refused
[ERROR] [1573469382.718385632]: [ARDISCOVERY_Device] 18:49:42:718 | ARDISCOVERY_Device_NewARNetworkAL:243 - error: Socket access permission denied
[ERROR] [1573469382.718405727]: [ARCONTROLLER_Network] 18:49:42:718 | ARCONTROLLER_Network_New:355 - error: Error during the getting of the ARNETWORKAL_Manager from the device
[ INFO] [1573469382.718486245]: [ARCONTROLLER_Device] 18:49:42:718 | ARCONTROLLER_Device_StartRun:5949 - Start failed or canceled.
[ERROR] [1573469382.718526308]: [ARCONTROLLER_Device] 18:49:42:718 | ARCONTROLLER_Device_StopNetwork:7264 - Error occured durring unregistering ARCommands to the feature ARCONTROLLER_DICTIONARY_KEY_GENER
[ERROR] [1573469382.718542128]: [ARCONTROLLER_Device] 18:49:42:718 | ARCONTROLLER_Device_StopNetwork:7282 - Error occured durring unregistering ARCommands to the feature ARCONTROLLER_DICTIONARY_KEY_ARDRO
[ERROR] [1573469382.718557382]: [ARCONTROLLER_Device] 18:49:42:718 | ARCONTROLLER_Device_StopNetwork:7291 - Error occured durring unregistering ARCommands to the feature ARCONTROLLER_DICTIONARY_KEY_COMMO
[ERROR] [1573469382.718570318]: [ARCONTROLLER_Device] 18:49:42:718 | ARCONTROLLER_Device_StopRun:5992 - StopNetwork failed with error :Bad parameters
[ INFO] [1573469382.718695764]: [BebopSDK] 18:49:42:718 | Cleanup:326 - Bebop Cleanup()
[ERROR] [1573469382.718731714]: [ARCONTROLLER_Device] 18:49:42:718 | ARCONTROLLER_Device_StartRun:5957 - Start fail error :Error during the getting of the ARNETWORKAL_Manager from the device
[FATAL] [1573469382.718938270]: Init failed: Waiting for device failed: No error
[ INFO] [1573469382.719029007]: Bebop Nodelet Dstr: 0
[ INFO] [1573469382.719044145]: Killing Camera Thread ...
[ INFO] [1573469382.719058504]: Killing Aux Thread ...
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injectorboost::lock_error >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
[bebop_leader/bebop_driver-2] process has died [pid 22820, exit code -6, cmd /home/seken/mycode/workspace/drl-landing/devel/lib/bebop_driver/bebop_driver_node __name:=bebop_driver __log:=/home/seken/.ros/log/f6cdf364-0470-11ea-8b5b-40b0344f6594/bebop_leader-bebop_driver-2.log].
log file: /home/seken/.ros/log/f6cdf364-0470-11ea-8b5b-40b0344f6594/bebop_leader-bebop_driver-2*.log
@SekenWang
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begging for help, please!

@fbrunodr
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Did you solve it? I have the same problem.

@EricDiazR
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Did you manage to make it work? I have the same problem :(

@diligentYing
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I have the same problem.

@diligentYing
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I meet the same problem. I find its reason is IP_address. You can set bebop's IP as the defult IP: "192.168.42.1" in your launch file. By doing so, I resovled this problem.

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@SekenWang @fbrunodr @EricDiazR @diligentYing