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    voxl-docker-mavsdk-python build issues

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    • Eric KatzfeyE
      Eric Katzfey ModalAI Team @Alexander Saunders
      last edited by

      @Alexander-Saunders Are you doing xhost + before running docker?

      Alexander SaundersA 1 Reply Last reply Reply Quote 0
      • Alexander SaundersA
        Alexander Saunders @Eric Katzfey
        last edited by

        @Eric-Katzfey The latest attempts, yes. After running that and

        docker run --rm -it --net=host --privileged -e DISPLAY=$DISPLAY -v /dev/input:/dev/input:rw -v /tmp/.X11-unix:/tmp/.X11-unix:ro voxl-gazebo-docker ./run_gazebo.bash
        

        gazebo will open up. The issue is connect gazebo with VOXL2 to run in HITL mode. I've followed two of the video from Modalai and Ascend exactly with no luck. Also went through the documentation again.

        All instances are being ran on the host computer. When comparing the image from above to docs, we are only getting heartbeat packets.
        Screenshot 2024-05-31 at 8.48.34 AM.png

        Eric KatzfeyE 3 Replies Last reply Reply Quote 0
        • Eric KatzfeyE
          Eric Katzfey ModalAI Team @Alexander Saunders
          last edited by

          @Alexander-Saunders The heartbeat counter is the amount of heartbeat messages being sent out, not received. So you are not getting anything on the serial port.

          1 Reply Last reply Reply Quote 0
          • Eric KatzfeyE
            Eric Katzfey ModalAI Team @Alexander Saunders
            last edited by

            @Alexander-Saunders Also, take a look at this: https://www.reddit.com/r/linux4noobs/comments/lu1plx/hi_i_get_this_authorization_required_but_no/

            1 Reply Last reply Reply Quote 0
            • Eric KatzfeyE
              Eric Katzfey ModalAI Team @Alexander Saunders
              last edited by

              @Alexander-Saunders Definitely looks like a permissions issue of some sort in your system.

              Alexander SaundersA 1 Reply Last reply Reply Quote 0
              • Alexander SaundersA
                Alexander Saunders @Eric Katzfey
                last edited by

                @Eric-Katzfey Are you suggesting giving the file/repo permissions with

                xhost si:localuser:root
                

                Also we are using the FDTI cable provided with the ESC AND USB C to A to connect to host.

                Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                • Eric KatzfeyE
                  Eric Katzfey ModalAI Team @Alexander Saunders
                  last edited by

                  @Alexander-Saunders I'm only suggesting that there is a permissions problem of some sort. I don't see that on my machine so just trying to figure out what is different in your environment.

                  Alexander SaundersA 3 Replies Last reply Reply Quote 0
                  • Alexander SaundersA
                    Alexander Saunders @Eric Katzfey
                    last edited by

                    @Eric-Katzfey I tried giving permission to user with no change.
                    image (6).png image (7).png

                    1 Reply Last reply Reply Quote 0
                    • Alexander SaundersA
                      Alexander Saunders @Eric Katzfey
                      last edited by

                      @Eric-Katzfey Is it possible to see a picture of your terminal of the commands you sent?

                      Eric KatzfeyE 3 Replies Last reply Reply Quote 0
                      • Alexander SaundersA
                        Alexander Saunders @Eric Katzfey
                        last edited by

                        @Eric-Katzfey image (8).png

                        Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                        • Eric KatzfeyE
                          Eric Katzfey ModalAI Team @Alexander Saunders
                          last edited by

                          @Alexander-Saunders iris_hitl.sdf is part of the docker image so it will be the same.

                          1 Reply Last reply Reply Quote 0
                          • Eric KatzfeyE
                            Eric Katzfey ModalAI Team @Alexander Saunders
                            last edited by

                            @Alexander-Saunders

                            modalai@modalai-XPS-15-9570:~$ docker run --rm -it --net=host --privileged -v /dev/input:/dev/input:rw voxl-gazebo-docker
                            root@modalai-XPS-15-9570:/usr/workspace/voxl2_hitl_gazebo# ls
                            CMakeLists.txt           build-gazebo.bash    include       package.xml            scripts
                            Dockerfile               build-mavlink.bash   mavlink       resources              src
                            README.md                cmake                mavlink-libs  run-docker-image.bash  unit_tests
                            build                    docker-commands.txt  models        run_gazebo.bash        worlds
                            build-docker-image.bash  external             msgs          run_headless.bash
                            root@modalai-XPS-15-9570:/usr/workspace/voxl2_hitl_gazebo# ls /dev/ttyUSB0
                            /dev/ttyUSB0
                            root@modalai-XPS-15-9570:/usr/workspace/voxl2_hitl_gazebo# ls -l /dev/ttyUSB0
                            crw-rw---- 1 root dialout 188, 0 Jun  3 16:02 /dev/ttyUSB0
                            root@modalai-XPS-15-9570:/usr/workspace/voxl2_hitl_gazebo# ./run_headless.bash 
                            GAZEBO_PLUGIN_PATH :/usr/workspace/voxl2_hitl_gazebo
                            GAZEBO_MODEL_PATH :/usr/workspace/voxl2_hitl_gazebo/models
                            LD_LIBRARY_PATH :/usr/workspace/voxl2_hitl_gazebo/build
                            Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
                            Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
                            Opened serial device /dev/ttyUSB0
                            
                            1 Reply Last reply Reply Quote 0
                            • Eric KatzfeyE
                              Eric Katzfey ModalAI Team @Alexander Saunders
                              last edited by

                              @Alexander-Saunders

                              modalai@modalai-XPS-15-9570:~$ docker images | grep gazebo
                              voxl-gazebo-docker            latest       1c8ce4f31e4f   3 months ago    3.73GB
                              voxl-gazebo-docker            v1.2         1c8ce4f31e4f   3 months ago    3.73GB
                              
                              1 Reply Last reply Reply Quote 0
                              • Eric KatzfeyE
                                Eric Katzfey ModalAI Team @Alexander Saunders
                                last edited by

                                @Alexander-Saunders We have quite a few customers using HITL successfully and they are using the instructions in the document so I'm thinking there is something in your environment that is causing the issue. Do you have access to a different Linux machine that you can use?

                                Alexander SaundersA 1 Reply Last reply Reply Quote 0
                                • Alexander SaundersA
                                  Alexander Saunders @Eric Katzfey
                                  last edited by

                                  @Eric-Katzfey Update:

                                  We switched some of the wires for the FTDI cable and now receiving data. We went back to following the HITL docs along with https://forum.modalai.com/topic/3511/serial-port-closed-and-other-hitl-errors/9 . We have the drone running in HITL via QGC and running the voxl-px4-hitl command. Despite this, gazebo is still not showing the drone or connecting. Could the issue possibly be with the Dockerfile that reflects bionic instead of focal since that had to be changed for the image to be pulled? We also tried running ./run-docker.sh within the directory and received docker run --help.

                                  image (11).png image (12).png

                                  Eric KatzfeyE 1 Reply Last reply Reply Quote 0
                                  • Eric KatzfeyE
                                    Eric Katzfey ModalAI Team @Alexander Saunders
                                    last edited by

                                    @Alexander-Saunders Looks better now. What does the dsp_hitl start command look like now? Seems like it is setup for VIO only.

                                    1 Reply Last reply Reply Quote 0
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