ModalAI Forum

@Eric-Katzfey if you cannot start docker images, you can try the command above to clear them. Good luck.

Hello,

Yesterday the voxl main board stopped responding. I removed all cameras and devices except for power and cannot get adb shell to respond.

If I do adb devices, I get a device in the list, but when i try adb shell, I get error, closed.

I attached the fastboot interface and tried following the unbricking procedure described at https://docs.modalai.com/unbrick-voxl/ but no response.

Hi @Chad-Sweet it appears that I am on voxl-suite 0.2.0 as indicated above. However, if QGC reports that avoidance system is unavailable and the vehicle will not arm. If I run

voxl-vision -s

I can see the obstacle debug info on the terminal, also I set

"en_voa":    true,

Any suggestions as to what I am doing wrong?

That is what I thought. I have not updated the system yet. Please let me know when this update is available!

Thanks, so my question is, if I am running a planner in ROS, and sending out move simple goals to a local coordinate, will the vehicle auto correct it's odometry while flying around? My tests seem to suggest that this would not be the case.

No response. I'll ask a related question... what is the most stable odom topic that is transmitted in MAVROS? /mavros/local_position/odom seems to have a lot of drift.

rm /data/network/files/local-kv.db

did the trick. Thanks for providing that missing piece of data!

just looking at the logs, the docker deamon fails here:

level=fatal msg="Error starting daemon: Error initializing network controller: could not delete the default bridge network: network bridge has active endpoints"

Most forums suggest removing the docker network folder: rm -r /var/lib/docker/network

I did this but still having issues. Just curious if the modalAI setup stores docker files somewhere else?

I had a battery go pretty low and the system crashed while running mavros in docker last night, after reboot, docker deamon is not responding and I cannot see any images.

Just looking at your script, I realized that modal has it's own docker services.. so perhaps this provides a little more info: I have created a few images from the kinetic image

yocto:~# systemctl disable docker.service
yocto:~# systemctl enable docker-start.service
yocto:~# systemctl enable docker-prepare.service
yocto:~# systemctl status docker-prepare.service
● docker-prepare.service
   Loaded: loaded (/etc/systemd/system/docker-prepare.service; enabled; vendor preset: enabled)
   Active: failed (Result: exit-code) since Thu 1970-01-01 00:00:24 UTC; 51 years 4 months ago
 Main PID: 2352 (code=exited, status=1/FAILURE)

Jan 01 00:00:20 apq8096 docker-prepare.sh[2352]: /usr/bin/docker-prepare.sh: line 17: /sys/fs/cgroup/cpuset/syst...ctory
Jan 01 00:00:21 apq8096 docker-prepare.sh[2352]: /usr/bin/docker-prepare.sh: line 17: /sys/fs/cgroup/cpuset/syst...ctory
Jan 01 00:00:22 apq8096 docker-prepare.sh[2352]: /usr/bin/docker-prepare.sh: line 17: /sys/fs/cgroup/cpuset/syst...ctory
Jan 01 00:00:23 apq8096 docker-prepare.sh[2352]: /usr/bin/docker-prepare.sh: line 17: /sys/fs/cgroup/cpuset/syst...ctory
Jan 01 00:00:24 apq8096 docker-prepare.sh[2352]: /usr/bin/docker-prepare.sh: line 17: /sys/fs/cgroup/cpuset/syst...ctory
Jan 01 00:00:24 apq8096 docker-prepare.sh[2352]: failed to see cpuset appear after 15 seconds
Jan 01 00:00:24 apq8096 systemd[1]: docker-prepare.service: Main process exited, code=exited, status=1/FAILURE
Jan 01 00:00:24 apq8096 systemd[1]: Failed to start docker-prepare.service.
Jan 01 00:00:24 apq8096 systemd[1]: docker-prepare.service: Unit entered failed state.
Jan 01 00:00:24 apq8096 systemd[1]: docker-prepare.service: Failed with result 'exit-code'.
Hint: Some lines were ellipsized, use -l to show in full.
yocto:~#
yocto:~#
yocto:~# systemctl status docker-start.service
● docker-start.service
   Loaded: loaded (/etc/systemd/system/docker-start.service; enabled; vendor preset: enabled)
   Active: failed (Result: exit-code) since Thu 2021-05-13 15:57:11 UTC; 3min 11s ago
 Main PID: 3873 (code=exited, status=1/FAILURE)

May 13 15:57:11 apq8096 systemd[1]: Started docker-start.service.
May 13 15:57:11 apq8096 docker[3873]: time="2021-05-13T15:57:11.453820000Z" level=info msg="API listen on /var/....sock"
May 13 15:57:11 apq8096 docker[3873]: time="2021-05-13T15:57:11.477567000Z" level=info msg="[graphdriver] using...lay\""
May 13 15:57:11 apq8096 docker[3873]: time="2021-05-13T15:57:11.527540000Z" level=info msg="Firewalld running: false"
May 13 15:57:11 apq8096 docker[3873]: time="2021-05-13T15:57:11.595538000Z" level=fatal msg="Error starting dae...oints"
May 13 15:57:11 apq8096 systemd[1]: docker-start.service: Main process exited, code=exited, status=1/FAILURE
May 13 15:57:11 apq8096 systemd[1]: docker-start.service: Unit entered failed state.
May 13 15:57:11 apq8096 systemd[1]: docker-start.service: Failed with result 'exit-code'.
Hint: Some lines were ellipsized, use -l to show in full.
yocto:~#
yocto:~# df
Filesystem     1K-blocks    Used Available Use% Mounted on
/dev/root        2837860 1890496    930980  68% /
devtmpfs         1861956       0   1861956   0% /dev
tmpfs            1930660       0   1930660   0% /dev/shm
tmpfs            1930660   17136   1913524   1% /run
tmpfs            1930660       0   1930660   0% /sys/fs/cgroup
tmpfs            1930660       4   1930656   1% /var/volatile
/dev/sda2           2168      80      1964   4% /persist
/dev/sde12         12016    4184      7508  36% /dsp
/dev/sda3          58888      40     57568   1% /cache
/dev/sde11         97232   33616     63616  35% /firmware
/dev/sda9       15248568 7060916   8171268  47% /data
tmpfs             386132       0    386132   0% /run/user/0

@Chad-Sweet Thanks for the fast response!

yocto:~# voxl-configure-docker-support.sh
Stopping original docker service
Enabling our own services docker-start & docker-prepare
starting docker-start.service
loading hello-world docker image
Cannot connect to the Docker daemon. Is the docker daemon running on this host?
yocto:~#  systemctl status docker
● docker.service - Docker Application Container Engine
   Loaded: loaded (/lib/systemd/system/docker.service; disabled; vendor preset: enabled)
   Active: inactive (dead)
     Docs: http://docs.docker.com
May 13 15:46:33 apq8096 systemd[1]: Stopped Docker Application Container Engine.

yocto:~#

yocto:~#  systemctl status docker
● docker.service - Docker Application Container Engine
   Loaded: loaded (/lib/systemd/system/docker.service; disabled; vendor preset: enabled)
   Active: inactive (dead)
     Docs: http://docs.docker.com

May 13 15:46:33 apq8096 systemd[1]: Stopped Docker Application Container Engine.
yocto:~#  systemctl start docker
yocto:~#  systemctl status docker
● docker.service - Docker Application Container Engine
   Loaded: loaded (/lib/systemd/system/docker.service; disabled; vendor preset: enabled)
   Active: failed (Result: exit-code) since Thu 2021-05-13 15:48:03 UTC; 2s ago
     Docs: http://docs.docker.com
  Process: 3678 ExecStart=/usr/bin/docker daemon -H fd:// --raw-logs (code=exited, status=2)
 Main PID: 3678 (code=exited, status=2)

May 13 15:48:03 apq8096 systemd[1]: Started Docker Application Container Engine.
May 13 15:48:03 apq8096 docker[3678]: flag provided but not defined: --raw-logs
May 13 15:48:03 apq8096 docker[3678]: See '/usr/bin/docker daemon --help'.
May 13 15:48:03 apq8096 systemd[1]: docker.service: Main process exited, code=exited, status=2/INVALIDARGUMENT
May 13 15:48:03 apq8096 systemd[1]: docker.service: Unit entered failed state.
May 13 15:48:03 apq8096 systemd[1]: docker.service: Failed with result 'exit-code'.
yocto:~# docker images
An error occurred trying to connect: Get http://%2Fvar%2Frun%2Fdocker.sock/v1.21/images/json: read unix @->/var/run/docker.sock: read: connection reset by peer

Hey @Alex123 were you able to resolve this? I'm having the same issue.

I'm not so sure which one I'm on:

--------------------------------------------------------------------------------
system-image:    ModalAI 3.1.0 BUILDER: ekatzfey BUILD_TIME: 2020-12-23_19:41
kernel:          #1 SMP PREEMPT Wed Dec 23 19:50:23 UTC 2020 3.18.71-perf
factory-bundle:  1.0.1 (Yocto installation)
--------------------------------------------------------------------------------
architecture:    aarch64
processor:       apq8096
os:              GNU/Linux
--------------------------------------------------------------------------------
voxl-suite:
Package: voxl-suite
Version: 0.3.4
Depends: voxl-utils (>= 0.6.0), libmodal_json (>= 0.3.4), libmodal_pipe (>= 1.7.8), librc_math (>= 1.1.4), libvoxl_io (>= 0.5.4), mavlink-camera-manager (>= 0.0.1), opencv (>= 4.5.1), openmp (>= 10.0.1), voxl-camera-server (>= 0.5.6), voxl-dfs-server (>= 0.0.7), voxl-docker-support (>= 1.1.1), voxl-gphoto2 (>= 0.0.5), voxl-hal3-tof-cam-ros (>= 0.0.5), voxl-imu-server (>= 0.7.8), voxl-modem (>= 0.11.0), voxl-mpa-tflite-server (>= 0.0.2), voxl-mpa-tools (>= 0.1.6), voxl-nodes (>= 0.1.3), voxl-qvio-server (>= 0.2.1), voxl-rtsp (>= 1.0.3), voxl-streamer (>= 0.2.1), voxl-vision-px4 (>= 0.8.1), voxl-vpn (>= 0.0.3)
Status: unknown ok not-installed
Section: base
Architecture: all
Maintainer: james@modalai.com
MD5Sum: e1e5bf1a125affe5036099f6ce895bed
Size: 1818
Filename: voxl-suite_0.3.4.ipk
Description: meta-package for voxl-suite stable release

Package: voxl-suite
Version: 0.2.0
Depends: docker, imu_app (= 0.0.6), libvoxl_io (= 0.5.2), voxl-cam-manager (= 0.2.2), voxl-docker-support (= 1.1.1), voxl-hal3-tof-cam-ros (= 0.0.2), voxl-modem (= 0.10.0), voxl-nodes (= 0.0.8), voxl-rtsp (= 1.0.2), voxl-utils (= 0.5.2), voxl-vision-px4 (= 0.6.8), voxl_imu (= 0.0.4), voxl-time-sync (= 0.0.1), voxl-vpn (= 0.0.2), librc_math (= 1.1.2), libmodal_pipe (= 1.2.2), modalai-vl (= 0.1.3)
Status: install user installed
Section: base
Architecture: armv7a
Maintainer: james@modalai.com
MD5Sum: af706cd3c1ea59f274f2ed9b93141f1d
Size: 870
Filename: voxl-suite_0.2.0.ipk
Description: meta-package to install all of the voxl-suite
Installed-Time: 1062

Hello!
I would like to use the Apriltag frame localization over in ROS to localize my drone. However all of the mavros odom topics do not seem to publish this offset. Is there a way to do this? I can see the offsets when I run voxl-vision-px4 -p

Hello! Just reading through your documentation on Obstacle Avoidance .. it seems to imply that you just need to run a calibration and turn it on in /etc/modalai/voxl-vision-px4.conf

When I do all this, I don't seem to be getting any meaningful obstacle data from the debug mode or in QGC. I assume that I also need to compile and run the avoidance ros node on my own apart from these instructions?

Can you please clarify?
Thanks!

@Voxlady Thanks for the clarification I'll report my findings here.

Hello, I see another thread on this from Jan, but it didn't answer my question exactly.

I see from the documentation that MAVROS must run in the roskinetic-xenial docker. However, the instructions for building other ROS nodes seem to imply that you build for the natively installed indigo ROS.

Is the expectation that if I build something (like PX4 avoidance) for Indigo, both would have to run at the same time?

gauravshukla914 Just curious, are you trying https://github.com/PX4/PX4-Avoidance or something else for collision prevention?

nothing else has changed.

@Chad-Sweet Pretty sure everything is connected properly. Earlier today I started RTSP on the stereo cams and it was working, however I noticed that the left side was super blurry though, so I connected an old cam in it's place, which looked better, then I connected the orig back to double check that it wasn't just a blurry lens. At that point, I could not get anything.

If I disconnect the cameras, I cannot run the RTSP server in mode 2, if I connect the cameras, RTSP server runs but nothing shows up in VLC. I could use some help tracking down what is happening.