voxl-tflite-server crashes after 5-10 minutes

colerose

After running:

roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch

on the VOXL with the latest stable version of voxl-tflite-server running (v0.1.6), I noticed that the tflite pipe would disconnect and reconnect after about 5-10 minutes.

Here is an output of that occuring:

Found new interface: tflite
Found new interface: tracking
Found new interface: cpu_monitor
Found new interface: imu0
Found new interface: imu1
Found new interface: vvpx4_gps_raw_int
Found new interface: vvpx4_mavlink_io
Found new interface: vvpx4_sys_status
Found new interface: vvpx4_vehicle_gps
Found new interface: vvpx4_body_wrt_fixed
Found new interface: vvpx4_body_wrt_local
Found new interface: qvio_extended
Found new interface: vvpx4_shell
Found new interface: qvio
Interface: tflite's data pipe disconnected, closing until it returns
Found pipe for interface: tflite, now advertising
Interface: tflite's data pipe disconnected, closing until it returns
Found pipe for interface: tflite, now advertising
Interface: tflite's data pipe disconnected, closing until it returns
Found pipe for interface: tflite, now advertising

When this happens all of the cameras on voxl-portal are no longer viewable. I can select them but no image shows up. Even if I restart voxl-portal or the voxl-tflite server the cameras don't show up in voxl-portal. The only fix to this is to restart the voxl entirely.

I then tested to see if this happened without voxl-mpa-to-ros running. Unfortunately, the same error still occurs. After about 5-10 minutes the cameras are no longer viewable in voxl-portal with the only fix being to reboot the voxl.

@colerose please see the latest version v0.1.8 on dev or stable. This version also includes a new output pipe (tflite_data) by default that will publish metadata about detections, in the form of:

typedef struct object_detection_msg {
    int64_t timestamp_ns;
    uint32_t class_id;
    char class_name[64];
    float class_confidence;
    float detection_confidence;
    float x_min;
    float y_min;
    float x_max;
    float y_max;
} __attribute__((packed)) object_detection_msg;

typedef struct detections_array {
    int32_t num_detections;
    object_detection_msg detections[64];
} __attribute__((packed)) detections_array;

colerose

@Matt-Turi thanks for letting me know! Does this new version crash less often? Also, will the output pipe work with voxl_mpa_to_ros?

@colerose Yes, the new version fixes this issue and should no longer be a problem.

The new output pipe is not compatible with voxl_mpa_to_ros yet, but it will be added in very soon!

Wei Cui

@Matt-Turi Can you please let us know if voxl_mpa_to_ros is compatible with the new output pipe? Thanks.

@Wei-Cui @colerose The dev latest version of voxl_mpa_to_ros is now compatible with the new output pipe. See the latest package on our opkg repo titled voxl-nodes_0.2.2_202112212238.ipk or public gitlab.

hedd

hello @colerose how do u get all these topics by launching just roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch because when i launch it i get just these topics :
MPA to ROS app is now running

Found new interface: hires
Found new interface: qvio_overlay
Found new interface: stereo
Found new interface: tracking
Found new interface: imu0
Found new interface: imu1
Found new interface: voa_pc_out
Found new interface: qvio
Thank u in advance for your reply