Error in HITL "Tx queue overflow" in VOXL-CAM.



  • Hi,

    I was trying to run HITL in voxl-cam in VIO mode in gazebo using command from here https://forum.modalai.com/topic/1121/connecting-voxl-cam-and-pixhawk-cube?_=1661157872724 as told by @Zachary-Lowell. But I am getting message in terminal saying "Tx queue overflow" as soon as I am arming the vehicle through transmitter.

    can you tell me how to fix this problem?

    anubhav@anubhav-GF63-Thin-9SC:~/Gazebo_N/gazebo$ make px4_sitl_default gazebo_iris_vision
    -- PX4 version: v1.4.12-modalai-rb5-flight-alpha-6-gaf80dd159a
    -- PX4 config file: /home/anubhav/Gazebo_N/gazebo/boards/px4/sitl/default.cmake
    -- PX4 config: px4_sitl_default
    -- PX4 platform: posix
    -- PX4 lockstep: enabled
    -- cmake build type: RelWithDebInfo
    -- Building for code coverage
    -- ccache enabled (export CCACHE_DISABLE=1 to disable)
    -- build type is RelWithDebInfo
    -- PX4 ECL: Very lightweight Estimation & Control Library v1.9.0-rc1-509-gb919f3d
    -- ROMFS: px4fmu_common
    -- Configuring done
    -- Generating done
    -- Build files have been written to: /home/anubhav/Gazebo_N/gazebo/build/px4_sitl_default
    [0/4] Performing build step for 'sitl_gazebo'
    ninja: no work to do.
    [3/4] cd /home/anubhav/Gazebo_N/gazebo/build/px4_...me/anubhav/Gazebo_N/gazebo/build/px4_sitl_default
    SITL ARGS
    sitl_bin: /home/anubhav/Gazebo_N/gazebo/build/px4_sitl_default/bin/px4
    debugger: none
    program: gazebo
    model: iris_vision
    world: none
    src_path: /home/anubhav/Gazebo_N/gazebo
    build_path: /home/anubhav/Gazebo_N/gazebo/build/px4_sitl_default
    GAZEBO_PLUGIN_PATH :/home/anubhav/firmware/build/px4_sitl_default/build_gazebo:/home/anubhav/firmware/build/px4_sitl_default/build_gazebo:/home/anubhav/Gazebo_N/gazebo/build/px4_sitl_default/build_gazebo
    GAZEBO_MODEL_PATH :/home/anubhav/firmware/Tools/sitl_gazebo/models:/home/anubhav/firmware/Tools/sitl_gazebo/models:/home/anubhav/Gazebo_N/gazebo/Tools/sitl_gazebo/models
    LD_LIBRARY_PATH /opt/ros/noetic/lib:/home/anubhav/firmware/build/px4_sitl_default/build_gazebo:/home/anubhav/firmware/build/px4_sitl_default/build_gazebo:/home/anubhav/Gazebo_N/gazebo/build/px4_sitl_default/build_gazebo
    empty world, setting empty.world as default
    Using: /home/anubhav/firmware/Tools/sitl_gazebo/models/iris_vision/iris_vision.sdf
    Warning [parser.cc:833] XML Attribute[version] in element[sdf] not defined in SDF, ignoring.
    Opened serial device /dev/ttyACM0
    SITL COMMAND: "/home/anubhav/Gazebo_N/gazebo/build/px4_sitl_default/bin/px4" "/home/anubhav/Gazebo_N/gazebo/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/home/anubhav/Gazebo_N/gazebo"/test_data
    Creating symlink /home/anubhav/Gazebo_N/gazebo/build/px4_sitl_default/etc -> /home/anubhav/Gazebo_N/gazebo/build/px4_si
    
    _____  __   __    ___ 
    | ___ \ \ \ / /   /   |
    | |_/ /  \ V /   / /| |
    |  __/   /   \  / /_| |
    | |     / /^\ \ \___  |
    \_|     \/   \/     |_/
    
    px4 starting.
    
    INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
    INFO  [init] found model autostart file as SYS_AUTOSTART=1013
    INFO  [param] selected parameter default file eeprom/parameters_1013
    INFO  [init] parameter file not found, creating eeprom/parameters_1013
      SYS_AUTOCONFIG: curr: 0 -> new: 1
      SYS_AUTOSTART: curr: 0 -> new: 1013
      BAT_N_CELLS: curr: 0 -> new: 4
      CAL_ACC0_ID: curr: 0 -> new: 1310988
      CAL_ACC1_ID: curr: 0 -> new: 1310996
      CAL_ACC2_ID: curr: 0 -> new: 1311004
      CAL_GYRO0_ID: curr: 0 -> new: 1310988
      CAL_GYRO1_ID: curr: 0 -> new: 1310996
      CAL_GYRO2_ID: curr: 0 -> new: 1311004
      CAL_MAG0_ID: curr: 0 -> new: 197388
      CAL_MAG1_ID: curr: 0 -> new: 197644
      CBRK_SUPPLY_CHK: curr: 0 -> new: 894281
      COM_RC_IN_MODE: curr: 0 -> new: 1
      EKF2_REQ_GPS_H: curr: 10.0000 -> new: 0.5000
      EKF2_MULTI_IMU: curr: 0 -> new: 3
      SENS_IMU_MODE: curr: 1 -> new: 0
      EKF2_MULTI_MAG: curr: 0 -> new: 2
      SENS_MAG_MODE: curr: 1 -> new: 0
      SDLOG_MODE: curr: 0 -> new: 1
      SDLOG_PROFILE: curr: 1 -> new: 131
      SDLOG_DIRS_MAX: curr: 0 -> new: 7
      SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
      SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
      TRIG_INTERFACE: curr: 4 -> new: 3
      COM_CPU_MAX: curr: 90.0000 -> new: -1.0000
      IMU_INTEG_RATE: curr: 200 -> new: 250
      NAV_ACC_RAD: curr: 10.0000 -> new: 2.0000
      RTL_RETURN_ALT: curr: 60.0000 -> new: 30.0000
      RTL_DESCEND_ALT: curr: 30.0000 -> new: 10.0000
    ERROR [param] Parameter PWM_MAIN_MAX not found.
    ERROR [param] Parameter PWM_MAIN_MIN not found.
    ERROR [param] Parameter PWM_MAIN_RATE not found.
      GPS_UBX_DYNMODEL: curr: 7 -> new: 6
      EKF2_AID_MASK: curr: 1 -> new: 24
      EKF2_EV_DELAY: curr: 175.0000 -> new: 5.0000
      LPE_FUSION: curr: 145 -> new: 132
      ATT_EXT_HDG_M: curr: 0 -> new: 1
    * SYS_AUTOCONFIG: curr: 1 -> new: 0
    INFO  [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
    INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
    Gazebo multi-robot simulator, version 11.11.0
    Copyright (C) 2012 Open Source Robotics Foundation.
    Released under the Apache 2 License.
    http://gazebosim.org
    
    [Msg] Waiting for master.
    [Msg] Connected to gazebo master @ http://127.0.0.1:11345
    [Msg] Publicized address: 192.168.199.33
    [Wrn] [Event.cc:61] Warning: Deleting a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
    Tx queue overflow
    Tx queue overflow
    Tx queue overflow
    


  • Hi Anubhav - the reason why this is not working is because you are running your code in SITL mode and not HITL mode right now - the teller is that you ran make XXX in your executable. To run HITL, run the following:

    1. Change the line in hitl_iris.world: <uri>model://iris_hitl</uri> --> <uri>model://iris_vision</uri>
    2. Ensure that the iris_vision.sdf file is pointing to the iris_hitl model.
    3. Proceed to run:

    source Tools/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
    `gazebo Tools/sitl_gazebo/worlds/hitl_iris.world


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