I’m trying to run sphinx-server on a remote GPU server, that works fine but then I’m experimenting issues getting connected to the remote sphinx-server.
On the server, I’m running, my ethernet interface is enp4s0:192.168.10.79 ;
In order to get a drone accessible from outside the server, I used the port-forwarding option of sphinx-server and therefore ran :
On server : DISPLAY=:99 sphinx-server /opt/parrot-sphinx/usr/share/sphinx/worlds/outdoor_1.world /opt/parrot-sphinx/usr/share/sphinx/drones/bebop2.drone::stolen_interface=::with_front_cam=true --port-forwarding=192.168.10.79
Do not bother too much about the front “DISPLAY=:99”, it is because I use a headless server and a
xserver-xorg-video-dummy X server.
By the way, I think the simualtion is running ok , since I can display an image from the front cam :
ssh -X @server gz topic --view /gazebo/default/bebop2/body/horizontal_camera/image >> This opens a widget and displays an image gz stats >> Factor[0.62] SimTime[91.64] RealTime[146.49] Paused[F]
The issue I get is to connect to the simulation from a remote client. I’m on the same network so I can ping the 192.168.10.79 IP. But then , trying to connect to the gazebo master seems to partly fail
The topic list seems to work
gz topic -l [...] /gazebo/default/barrel_3/link/wrench /gazebo/default/bebop2/body/horizontal_camera/image /gazebo/default/bebop2/body/horizontal_camera/lens/control /gazebo/default/bebop2/body/horizontal_camera/lens/info /gazebo/default/bebop2/body/ultrasound/scan /gazebo/default/bebop2/body/vertical_camera/image /gazebo/default/bebop2/body/wrench /gazebo/default/default/bebop2/body/contacts /gazebo/default/default::ultrasound/cmd [...]
But requesting stats seems to fail :
On my client: export GAZEBO_MASTER_URI=192.168.10.79:11345 gz stats >> does not display anything
requesting an image with gz topic --view does not work either (it does not display any image). And requesting frequency on the topic does not return anything.
I also tried to run
sphinx-client --server-uri=192.168.10.79:11345 ; it opens a gazebo GUI with a black screen.
I finally tried to connect to 192.168.10.79 with the bebop_autonomy ROS driver but it seems to fail to connect.
Do you have any idea on where can be the issue ?
Thanks for your help.