# voxl-tflite-server crashes after 5-10 minutes

Source: https://forum.modalai.com/topic/555/voxl-tflite-server-crashes-after-5-10-minutes
Category: Flight Core and Legacy VOXL (https://forum.modalai.com/category/9/flight-core-and-legacy-voxl)
Tags: voxl
Posted: 2021-11-10 21:22:51 UTC by colerose
Replies: 6 · Views: 2337

## colerose · 2021-11-10 21:22:51 UTC

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.

## Reply by Guest · 2021-11-10 22:14:33 UTC

@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;
```

## Reply by colerose · 2021-11-11 00:10:09 UTC

@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?

## Reply by Guest · 2021-11-11 00:35:34 UTC

@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!

## Reply by Wei Cui · 2021-12-04 00:56:31 UTC (in reply to Guest)

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

## Reply by Guest · 2021-12-21 22:42:08 UTC

@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](http://voxl-packages.modalai.com/dev/) titled voxl-nodes_0.2.2_202112212238.ipk         or [public gitlab](https://gitlab.com/voxl-public/ros/voxl_mpa_to_ros/-/tree/dev).

## Reply by hedd · 2023-05-09 14:26:36 UTC

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