Hello,
I want to run a simulation with two drones Bebop2 and control them with Olympe. As suggested in a previous topic I tried the firmware 4.4.2 and Sphinx worked, but in this case it isn’t possible to connect to the drone using Olympe. So I tried to check another simulation with just one Bebop2 ( firmware 4.4.2 ) and I failed again to connect to the drone. Apparently it’s possible to connect a Bebop2 with Olympe only if It’s running with the latest firmware. So I had launched a new simulation with two drones (latest firmware) and Sphinx crashed.
Here the output from Sphinx:
- first I created two virtual wireless interfaces
- then I launched Sphinx using two models with two different names, interfaces, stolen_interfaces
stagiaire@Autpc79:~$ ./twointerfaces
dummy 16384 0
193: wlan0: <BROADCAST,NOARP> mtu 1500 qdisc noop state DOWN mode DEFAULT group default qlen 1000
link/ether 02:b0:d7:ba:dd:da brd ff:ff:ff:ff:ff:ff
wlan0: flags=130<BROADCAST,NOARP> mtu 1500
ether 02:b0:d7:ba:dd:da 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
wlan0:eth0: flags=130<BROADCAST,NOARP> mtu 1500
inet 192.168.42.1 netmask 255.255.255.0 broadcast 192.168.42.255
ether 02:b0:d7:ba:dd:da txqueuelen 1000 (Ethernet)
dummy 16384 0
194: wlan1: <BROADCAST,NOARP> mtu 1500 qdisc noop state DOWN mode DEFAULT group default qlen 1000
link/ether b6:ce:fa:7b:03:42 brd ff:ff:ff:ff:ff:ff
wlan1: flags=130<BROADCAST,NOARP> mtu 1500
ether b6:ce:fa:7b:03:42 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
wlan1:eth0: flags=130<BROADCAST,NOARP> mtu 1500
inet 192.168.42.2 netmask 255.255.255.0 broadcast 192.168.42.255
ether b6:ce:fa:7b:03:42 txqueuelen 1000 (Ethernet)
stagiaire@Autpc79:~$ sphinx /opt/parrot-sphinx/usr/share/sphinx/drones/myBebop2.drone::pose="0 0 0 0 0 0" /opt/parrot-sphinx/usr/share/sphinx/drones/myBebop2_2.drone::pose="5 0 0 0 0 0"
Parrot-Sphinx simulator version 1.3
connecting to firmwared version: 1.3
Gazebo multi-robot simulator, version 7.0.1
Copyright (C) 2012-2015 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org
[Msg] Waiting for master.
Gazebo multi-robot simulator, version 7.0.1
Copyright (C) 2012-2015 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: 127.0.0.1
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 127.0.0.1
[Msg] created parameter server on http:8383
[Msg] connected to firmwared
[Msg] Preparation of firmware http://plf.parrot.com/sphinx/firmwares/ardrone3/milos_pc/latest/images/ardrone3-milos_pc.ext2.zip
[Msg] Preparation of firmware http://plf.parrot.com/sphinx/firmwares/ardrone3/milos_pc/latest/images/ardrone3-milos_pc.ext2.zip
I shd: wind: recreated: generation=110 sample_count=4000 sample_size=24 sample_rate=1000 metadata_size=125
[Msg] firmware /usr/share/firmwared/firmwares//ardrone3-milos_pc.ext2.zip.a3223a5b-4bd8-9583-54ad-cb89d0a34087.firmware supported hardwares:
[Msg] milosboard
[Msg] Selected params to build .sdf file for bebop2:
param flir_pos = tilted
param kalamos_clip_far = 35
param kalamos_clip_near = 1.5
param low_gpu = 1
param with_flir = 0
param with_front_cam = 0
param with_hd_battery = 0
param with_kalamos = false
[Msg] Selected params to build .sdf file for bebop2_bis:
param flir_pos = tilted
param kalamos_clip_far = 35
param kalamos_clip_near = 1.5
param low_gpu = 1
param with_flir = 0
param with_front_cam = 0
param with_hd_battery = 0
param with_kalamos = false
[Wrn] [BaseCameraSensor.cc:277] vertical_camera: parameter 'num_buffers' is now deprecated.
[Wrn] [BaseCameraSensor.cc:277] vertical_camera: parameter 'num_buffers' is now deprecated.
I shd: omniscient_bebop2: recreated: generation=84 sample_count=4000 sample_size=192 sample_rate=1000 metadata_size=1125
I shd: time_bebop2: recreated: generation=84 sample_count=4000 sample_size=24 sample_rate=1000 metadata_size=128
I shd: battery_bebop2: recreated: generation=84 sample_count=4000 sample_size=8 sample_rate=1000 metadata_size=48
I shd: gps_bebop2: recreated: generation=84 sample_count=4000 sample_size=48 sample_rate=1000 metadata_size=245
I shd: omniscient_bebop2_bis: recreated: generation=16 sample_count=4000 sample_size=192 sample_rate=1000 metadata_size=1125
I shd: time_bebop2_bis: recreated: generation=16 sample_count=4000 sample_size=24 sample_rate=1000 metadata_size=128
I shd: battery_bebop2_bis: recreated: generation=16 sample_count=4000 sample_size=8 sample_rate=1000 metadata_size=48
I shd: gps_bebop2_bis: recreated: generation=16 sample_count=4000 sample_size=48 sample_rate=1000 metadata_size=245
[Msg] Drone bebop2[c693f2343b79bfb323383d3172cdb8f17489c52b] loaded
[Msg] Drone bebop2_bis[574ad20ebc491fc0b7b31d8a40089e055a9ee755] loaded
[Msg] WEB DASHBOARD IS ACCESSIBLE at http://localhost:9002
[Msg] Instance adamant_rebekka[c693f2343b79bfb323383d3172cdb8f17489c52b] started
[Msg] Instance meretricious_nevena[574ad20ebc491fc0b7b31d8a40089e055a9ee755] started
[Msg] All drones instantiated
[Wrn] [IioObjectPrivate.hh:299] request for sample already ongoing!
[Wrn] [IioObjectPrivate.hh:299] request for sample already ongoing!
[Err] [ImuSensor.cc:475] WaitUntilQueueEmpty: Firmware has not asked for samples for more than 10 secs.
[Err] [ImuSensor.cc:477] 34, 0, 5
^C[Wrn] [IioObjectPrivate.hh:299] request for sample already ongoing!
[Wrn] [IioObjectPrivate.hh:299] request for sample already ongoing!
[Err] [ImuSensor.cc:475] WaitUntilQueueEmpty: Firmware has not asked for samples for more than 10 secs.
[Err] [ImuSensor.cc:477] 25, 0, 5
[Msg] CleanupInstances
[Err] [Socket.cc:174] Socket 96 hung up
[Err] [Socket.cc:174] Socket 94 hung up
escalating to SIGKILL on server
/opt/parrot-sphinx/usr/bin/sphinx: line 593: kill: (12166) - No such process
What should I do? Are there any solutions to run multiples Bebop2 drones with latest firmware in a simulation?
Thanks a lot