ModalAI Forum

Thanks for the suggestion Eric but unfortunately i have tried those suggestions. I have identified the last executing service file on boot and made the docker-autorun.service run after and also added a sleep and a ping test.

I have come to the conclusion that --net=host is causing the problem, im not sure why. So i need to pass the ports through when running the container via a different method.

Do you guys have a certain way of passing ports through when running docker containers on the VOXL ? something like docker run -p 14551:14551 ?

I understand the docker kernel is a little different on the VOXL so if you could just tell me how you would map ports from the VOXL to the container ? as -p is not working

ive also tried --add-host and --expose

when i do not use the --net=host flag it does work !

but to pass through the ports we need i added the -p 14551:14551 flag but was met with this error from docker -

failed to create endpoint on network bridge: iptables failed: iptables -t nat -A DOCKER -p tcp -d 0/0 --dport 14551 -j DNAT --to-destination 172.17.0.2:14551 ! -i docker0: iptables: No chain/target/match by that name.

any idea how i might fix this ?

i tried disabling the wifi service so the VOXL only uses LTE and it still gives the same error.

I disabled the wifi through systemctl disable wlan-daemon.service

I believe it may be an issue with the wifi connecting alongside the LTE and breaking the docker container when a new host is added to ifconfig.

via the LTE module for the VOXL, using a sim card

also the SD card has been emptied and has more then enough available space - regardless of the error code.

Hi,

We are using a VOXL flight deck with LTE and require that the drone starts some c++ logic inside a container on start up. We have done this through the docker-autorun.service file below -

[Unit]
After=docker-daemon.service
Requires=docker-daemon.service

[Service]

Type=forking

ExecStartPre=/usr/bin/docker-prepare.sh
ExecStart=/etc/modalai/docker-autorun-script.sh
#ExecStop=/bin/bash -c "docker kill $(docker ps -q)"

[Install]
WantedBy=default.target

Then inside the docker-autorun-script.sh we have the following -

echo "initializing primevoxl"

((count =60))
while [[ $count -ne 0 ]] ; do
    ping -c 1 8.8.8.8                    # Try once.
    rc=$?
    if [[ $rc -eq 0 ]] ; then
        ((count = 1))                    # If okay, flag loop exit.
    else
        sleep 1                          # Minimise network storm.
    fi
    ((count = count - 1))                # So we don't go forever.
done

if [[ $rc -eq 0 ]] ; then               # Make final determination.
docker run -i --restart=always --privileged --net=host primevoxl &
else
    echo "Timeout"
fi

The code does a ping test then on success runs a docker container via -
docker run -i --restart=always --privileged --net=host primevoxl &

The docker image ends with starting a piece of c++ code via a CMD in the dockerfile. The code that we run inside the container is a simple pubsub code with AWS IoT core to listen for missions etc. this works fine with no errors when i run the container normally and even when i run /etc/modalai/docker-autorun-script.sh it works fine and gets a connection.

But when the docker-autorun-script.sh is started with the service file on reboot we get the following error -

I cant seem to see where the error lies and whether i am starting the container correctly via service ?

Hi,

Thanks for the link, i have been following that tutorial but when i connect my voxl flight to Qgroundcontrol i get my drone is "not ready" . ive set it to HITL mode. It says one of the sensors need calibration but wont allow me to do it -

when i try to run ./Tools/jmavsim_run.sh -q -s -d /dev/ttyACM0 -b 921600 -r 250 i get a port busy error ?

Hey,

I am trying to do a HITL simulation with a VOXL Flight - is this possible ? after following the instructions via - https://docs.px4.io/master/en/simulation/hitl.html i keep getting preflight check errors with the compass sensor. If i connect a GPS receiver to the VOXL Flight deck will it work ? or do you guys have any advice on how to fake a GPS or a better solution for this ?

Best regards
Kas Arrowtec

Thanks a lot Eric this definitely helps, will keep updated on progress.

@Eric-Katzfey said in RTK (without Qgroundcontrol):

Mavlink messages for PX4.

the custom IOT board is at the base station, not on the drone - it uses wifi/LTE to send RTK data via AWS cloud.

We get the RTCM messages from AWS via MQTT - So we are able to get the RTK data on the linux part of the voxl. Now we want to send those RTCM messages into mavlink messages to the PX4 part of the VOXL and are unsure of the software to use etc.

Hi,

We are trying to achieve RTK without Qgroundcontrol. We have a base station thats streaming RCTM messages (with a custom IOT board) to the VOXL over MQTT. The base station board has a ublox FP9 chip.

Were a little unsure of how to approach things on the VOXL side in terms of connecting to the PX4 or just how to pump in our GPS stream. The end goal is to have RTK working independently from QGC and with our custom board.

Any suggestions or pointers will be much appreciated, thank you.

Best regards

Hi,

I am trying to do a multi stage docker build as my current docker image is too large but it seems that it is not possible with my current dockerfile.
I start with

FROM arm64v8/ubuntu:latest as BUILDER

and it is unable to pull the image from docker.

I also tried just
FROM arm64v8/ubuntu:latest
then when i need to copy the compiled file over in the next part using -
COPY --from=0
(0 being the first build)
and i am returned with an error stating the --from parameter doesnt exist in voxl-docker.

Does voxl-docker support multi stage deployment and if so how would i go about it ? or any useful tips ?

Best regards

So i managed to get it to work with the following service file and script file -

[Unit]
After=docker-autorun.service

[Service]
Type=simple
ExecStart=/bin/bash /home/root/mastervoxl_init.sh

[Install]
WantedBy=multi-user.target

#!/bin/bash
echo 'initializing mastervoxl docker container'
docker run --restart=always -i mastervoxl /bin/bash

The most promising way seemed to be to make a service file in etc/systemd/system -

[Unit]
Description=Starts the mastervoxl docker container on startup.

[Service]
Type=simple
ExecStart=/bin/bash /home/root/mastervoxl_init.sh

[Install]
WantedBy=multi-user.target

and the script mastervoxl_init.sh being -

#!/bin/bash
echo 'initializing mastervoxl docker container'
docker run -it mastervoxl /bin/bash

Hi,

i am trying to execute a script that will start a docker container every time the VOXL is started.

A lot of the suggestions for running a script on start up on linux like using crontab or systemd or rc.local is not available with this custom yocto build on the VOXL.

Does anyone have the best way of doing this ?

Hi Alex,

this was very helpful - got it working and managed to get the docker image out.

thank you for your help !

@Eric-Katzfey

Hi Eric,

when using docker save myimage:latest | gzip > myimage_latest.tar.gz
how do i specify where to build the tar file ? to build on the SD card and not /data.