voxl-tflite-server abort

Isabella Yu

I'm trying to run voxl-tflite-server on an m500, but when I run the command, this is the output:


=================================================================
skip_n_frames:                    5
=================================================================
=================================================================
model:                            /usr/bin/dnn/ssdlite_mobilenet_v2_coco.tflite
=================================================================
=================================================================
input_pipe:                       /run/mpa/hires/
=================================================================

------VOXL TFLite Server------

Aborted

I tried running voxl-configure-tflite again, but same result. My configuration file from /etc/modalai/voxl-tflite-server.conf looks like this:

/**
 * This file contains configuration that's specific to voxl-tflite-server.
 *
 * skip_n_frames - how many frames to skip between processed frames. For 30hz
 *                   input frame rate, we recommend skipping 5 frame resulting
 *                   in 5hz model output.
 * model         - which model to use. Currently support mobilenet for
 *                   object detection or midas for monocular depth
 * input_pipe    - which camera to use (tracking or hires).
 */
{
        "skip_n_frames":        5,
        "model":        "/usr/bin/dnn/ssdlite_mobilenet_v2_coco.tflite",
        "input_pipe":   "/run/mpa/hires/"

Matt Turi

Hi @Isabella-Yu,

Could please share the output of running voxl-version and voxl-inspect-services -v? It would also be good to know if the voxl-tflite-server code has been modified in any way.

Isabella Yu

@Matt-Turi
Here's the output of voxl-version

cat: /etc/modalai/voxl-software-bundle-version.txt: No such file or directory
--------------------------------------------------------------------------------
system-image:    ModalAI 3.3.0 BUILDER: ekatzfey BUILD_TIME: 2021-06-06_19:28
kernel:          #1 SMP PREEMPT Sun Jun 6 19:41:01 UTC 2021 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: 2166

Here's the output of `voxl-inspect-services -v"

 Service Name          |  Version  |  Enabled  |   Running   |  CPU Usage
----------------------------------------------------------------------------
 docker-autorun        |    1.1.3  |  Enabled  | Not Running | Not Running
 docker-daemon         |    1.1.3  |  Enabled  |   Running   |     1.0
 modallink-relink      |   0.12.0  | Disabled  | Not Running | Not Running
 voxl-camera-server    |    0.8.1  |  Enabled  |   Running   |     7.1
 voxl-cpu-monitor      |    0.2.0  |  Enabled  |   Running   |     0.0
 voxl-dfs-server       |    0.2.2  |  Enabled  |   Running   |     8.0
 voxl-drogon-detector  |    0.3.4  | Disabled  | Not Running | Not Running
 voxl-imu-server       |    0.9.1  |  Enabled  |   Running   |     4.4
 voxl-modem            |   0.12.0  | Disabled  | Not Running | Not Running
 voxl-portal           |    0.1.2  |  Enabled  | Not Running | Not Running
 voxl-qvio-server      |    0.3.4  |  Enabled  |   Running   |     0.0
 voxl-streamer         |    0.2.6  | Disabled  | Not Running | Not Running
 voxl-tag-detector     |    0.0.2  |  Enabled  | Not Running | Not Running
 voxl-tflite-server    |    0.8.5  |  Enabled  | Not Running | Not Running
 voxl-time-sync        |    0.9.5  | Disabled  | Not Running | Not Running
 voxl-vision-px4       |    0.8.5  |  Enabled  |   Running   |     4.0
 voxl-wait-for-fs      |           |  Enabled  |  Completed  |  Completed

Matt Turi

It looks like you have a custom version of voxl-tflite-server running - voxl-inspect-services shows v0.8.5 and we are currently at v0.2.7. Is this correct?

Isabella Yu

@Matt-Turi I actually don't have a custom version running, so I don't know how that happened. I'll reinstall voxl-tflite-server from the voxl packages page and see if that fixes things

Matt Turi

Please let me know if that resolves the issue!

Isabella Yu

@Matt-Turi I downloaded voxl-tflite-server_0.1.8.ipk from http://voxl-packages.modalai.com/stable/, pushed it to the drone via adb, and ran opkg install voxl-tflite-server_0.1.8.ipk. However, it seems that 0.1.8 is already installed:

 * opkg_prepare_file_for_install: Refusing to load file 'voxl-tflite-server_0.1.8.ipk' as it matches the installed version of voxl-tflite-server (0.1.8).

I tried installing version 0.2.0 from dev instead, but it requires upgrading libmodal_pipe, libmodal_json, and voxl-opencv and I don't really want to do an upgrade right now in fear of breaking things

Matt Turi

To force a fresh installation when it is the same version you have loaded, you can give opkg the flag: --force-reinstall to reinstall without needing to upgrade. The full command then would be:

opkg install voxl-tflite-server_0.1.8.ipk --force-reinstall

Isabella Yu

@Matt-Turi that did reinstall voxl-tflite-server 0.1.8, but still having the abort issue.
voxl-version gives the same output, and voxl-inspect-services -v says the version of voxl-tflite-server is 0.1.8 as expected

Matt Turi

@Isabella-Yu,

I flashed a VOXL with the 3.3.0 system image and installed voxl-tflite-server v0.1.8 but was unable to recreate the abort issue you are seeing. voxl-tflite-server is a very power-hungry application, and I have seen issues like this arise from a bad apm/power connection to the drone. If this is not the cause, it may be worth attempting to reflash your system after backing up any important files. The latest stable release for voxl is VOXL Platform 3.8.0-0.7.

Isabella Yu

@Matt-Turi Yep, turns out switching to wall power fixed it. My battery power was too low. Thanks!