@Eric-Katzfey I do not understand.
With the same port number, which is used by QGC, mavsdk shows an error that
bind error: Address not available (udp_connection.cpp:93)
Connection failed: Bind error (connection_initiator.h:47)
FYI, I ran
await drone.connect(
system_address="udp://0.0.0.0:14550"
)
@Eric-Katzfey
Then which port should I use for it in my case?
@Eric-Katzfey
Thank you for your answer.
In my setup, is it possible to have one more UDP port for MAVSDK?
How can I have an additional simultaneous external UDP connection?
Hi,
I would like to have one more additional port to communicate VOXL2 from my laptop.
This is the current voxl-mavlink-server.conf
{
"primary_static_gcs_ip": "10.223.0.4",
"primary_static_gcs_ip_port": 14550,
"secondary_static_gcs_ip": "10.223.0.4",
"secondary_static_gcs_ip_port": 14600,
"onboard_port_to_autopilot": 14556,
"onboard_port_from_autopilot": 14557,
"gcs_port_to_autopilot": 14558,
"gcs_port_from_autopilot": 14559,
"en_external_uart_ap": false,
"autopilot_uart_bus": 1,
"autopilot_uart_baudrate": 921600,
"autopilot_mission_delay_start": -1,
"autopilot_mission_delay_sound": false,
"autopilot_mission_force_restart": 0,
"autopilot_mission_notif_dur": 0.1,
"en_external_ap_timesync": 1,
"en_external_ap_heartbeat": 1,
"udp_mtu": 512,
"gcs_timeout_s": 4.5
}
I am using 14550 for QGC and 14600 for MAVROS.
Is it possible to have one more UDP port for MAVSDK? I would like to run mavsdk from my laptop by running await drone.connect(system_address="udp://:14xxx")
Please let me know.
I would like to know if the following explanation is true;
Up to 16 simultaneous external UDP connections can be established with voxl-mavlink-server. These can be connections to qGroundControl, MAVROS, MAVSDK, or any custom software on the same network as VOXL.
in https://docs.modalai.com/mavlink/#mavlink-routing-on-voxl
@ApoorvThapliyal
When I said voxl-microdds-agent was not working, I meant that I couldn’t see any ROS 2 topics using ros2 topic list on either my computer or the VOXL2.
Even after removing the WiFi dongle from the VOXL2, voxl-wifi was still set to station mode, and no topics appeared when running ros2 topic list.
At first, I thought it was a network configuration issue, but it turned out to be related to voxl-wifi.
You can reproduce the same issue using SDK 1.6.0 (the version I used) by enabling voxl-wifi in station mode with a WiFi dongle, then removing the WiFi dongle and connecting the VOXL2 through Microhard after rebooting.
@Zachary-Lowell-0
Hi,
I figured out that voxl-microdds-agent does't work when I set up voxl-wifi for the Wi-Fi... even after removing the Wi-Fi dongle...
I had to disable the Wi-Fi by selecting 4) Disable WiFi (disables all active modes) and reboot in order to run voxl-microdds-agent properly, and then I was able to see the ROS 2 topics...
I do not know exactly what version I used, but it was not like this before... I did not need to disable Wi-Fi in the voxl-wifi setting..
@Zachary-Lowell-0 @tom @ZuraNeb
Something wrong with the network and microhard.
Even though I did factory reset the voxl2, the same problem is happening.
Is there any one who is an expert on the microhard and network setting?
Before factory reset, I am wondering if you have any comment...
@Zachary-Lowell-0
Thank you for the reply.
I have
starling2-max (D0012):/etc/systemd/system$ cat voxl-microdds-agent.service
[Unit]
Description=voxl-microdds-agent
SourcePath=/usr/bin/MicroXRCEAgent
After=network.target
After=multi-user.target
[Service]
User=root
Type=simple
ExecStart=/usr/bin/MicroXRCEAgent udp4 -p 8888
[Install]
WantedBy=multi-user.target
Without wifi dongle connection on the Microhard, ifconfig shows the following.
(usb0 has some ip address, but it is not connected to the internet.)
starling2-max (D0012):~$ ifconfig
bond0: flags=5123<UP,BROADCAST,MASTER,MULTICAST> mtu 1500
ether 86:ee:9c:db:b7:95 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
docker0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
inet 172.17.0.1 netmask 255.255.0.0 broadcast 172.17.255.255
ether 02:42:c4:45:1a:c1 txqueuelen 0 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
dummy0: flags=195<UP,BROADCAST,RUNNING,NOARP> mtu 1500
inet6 fe80::132b:a2c8:d911:3f45 prefixlen 64 scopeid 0x20<link>
ether ca:65:d5:16:98:25 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 12 bytes 3016 (3.0 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.168.200 netmask 255.255.255.0 broadcast 192.168.168.255
ether de:d6:13:4b:a9:2b txqueuelen 1000 (Ethernet)
RX packets 547 bytes 45029 (45.0 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 16318 bytes 1421239 (1.4 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
inet 127.0.0.1 netmask 255.0.0.0
inet6 ::1 prefixlen 128 scopeid 0x10<host>
loop txqueuelen 1000 (Local Loopback)
RX packets 103585 bytes 10271086 (10.2 MB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 103585 bytes 10271086 (10.2 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
usb0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.168.129 netmask 255.255.255.0 broadcast 192.168.168.255
inet6 fe80::98ff:2cbd:5466:7523 prefixlen 64 scopeid 0x20<link>
ether fe:94:fc:bb:e7:35 txqueuelen 1000 (Ethernet)
RX packets 45 bytes 3314 (3.3 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 16125 bytes 1971107 (1.9 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
With wifi dongle connection, it shows,
starling2-max (D0012):~$ ifconfig
bond0: flags=5123<UP,BROADCAST,MASTER,MULTICAST> mtu 1500
ether 86:ee:9c:db:b7:95 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
docker0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
inet 172.17.0.1 netmask 255.255.0.0 broadcast 172.17.255.255
ether 02:42:c4:45:1a:c1 txqueuelen 0 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
dummy0: flags=195<UP,BROADCAST,RUNNING,NOARP> mtu 1500
inet6 fe80::132b:a2c8:d911:3f45 prefixlen 64 scopeid 0x20<link>
ether ca:65:d5:16:98:25 txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 14 bytes 3700 (3.7 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.168.200 netmask 255.255.255.0 broadcast 192.168.168.255
ether de:d6:13:4b:a9:2b txqueuelen 1000 (Ethernet)
RX packets 817 bytes 70121 (70.1 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 27316 bytes 2378842 (2.3 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
inet 127.0.0.1 netmask 255.0.0.0
inet6 ::1 prefixlen 128 scopeid 0x10<host>
loop txqueuelen 1000 (Local Loopback)
RX packets 173906 bytes 17693833 (17.6 MB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 173906 bytes 17693833 (17.6 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
usb0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 192.168.168.129 netmask 255.255.255.0 broadcast 192.168.168.255
inet6 fe80::98ff:2cbd:5466:7523 prefixlen 64 scopeid 0x20<link>
ether fe:94:fc:bb:e7:35 txqueuelen 1000 (Ethernet)
RX packets 56 bytes 9514 (9.5 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 27087 bytes 3316350 (3.3 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 2312
inet 192.168.1.37 netmask 255.255.255.0 broadcast 192.168.1.255
inet6 2600:382:7e14:bcce:2402:aa6e:a4c1:5dcf prefixlen 64 scopeid 0x0<global>
inet6 2600:382:7e14:bcce:c2b4:933b:c203:7fa2 prefixlen 64 scopeid 0x0<global>
inet6 fe80::9b2b:25cd:8cd9:5cec prefixlen 64 scopeid 0x20<link>
ether 00:c0:ca:b5:ab:91 txqueuelen 1000 (Ethernet)
RX packets 2166 bytes 1162499 (1.1 MB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 69 bytes 15194 (15.1 KB)
TX errors 0 dropped 6 overruns 0 carrier 0 collisions 0
I’m not sure what I did, but I think wlan0 should be assigned to the Microhard instead of eth0.
Or maybe the Microhard should remain on eth0, and wlan0 should also come up with its own IP address, even if it’s not used for internet access...
This is because when the Wi-Fi dongle is connected, wlan0 comes up and MicroDDS starts working....
I installed a Microhard modem (192.168.168.200) and connected a Wi-Fi dongle to the USB port on the modem. I used MicroDDS through Wi-Fi and the Microhard modem.
One day, I tried to use MicroDDS without the Wi-Fi dongle connected, but systemctl start voxl-microdds-agent did not work. When I reconnected the Wi-Fi dongle to the Microhard modem, MicroDDS worked.
Then I removed the dongle and ran systemctl restart voxl-microdds-agent, and it worked.
However, when I restart the whole system and try to run it again without the Wi-Fi dongle, it does not work.
Do you have any ideas on how to resolve this?