Hi,
I’m trying the obstacle avoidance of Anafi AI in sphinx in parrot-ue4-sphx-tests with obstacle_avoidance map.
Unfortunately, I cannot move drone by manual command, it is stuck in the same position after the takeoff.
Any ideas ?
Best,
Clément
What does the ulog say when your manual commands are executed?
Hi @DonMMK,
I have the getLastStereoFrame:226: videoFrame err=22(Invalid argument) error in ULOGS.
But no one was able to help me on this : getLastStereoFrame:226: videoFrame err=22(Invalid argument) - #15
It looks like I’m alone to have this error …
Best,
Clément
Can you provide us with more info:
- The output of
fdc show instances <instance_name> - sphinx logs
- Your sphinx command line
- Does
sphinx-cli camera depth_camerashow depth frames?
Thanks!
Hi @ocrave,
- The output of
fdc show instances tremulous_johanna:
name: tremulous_johanna
sha1: 99d3f0a4c8301d51a53140a62541306da96f8278
base_workspace: /var/cache/firmwared/mount_points//instances/99d3f0a4c8301d51a53140a62541306da96f8278
id: 0
pid: 295740
state: started
firmware_path: /usr/share/firmwared/firmwares//anafi2-pc.ext2.zip.84f64f7e-1fdc-4b00-9a00-ed688a2bb04c.firmware
root: /var/cache/firmwared/mount_points//instances/99d3f0a4c8301d51a53140a62541306da96f8278/union
fs_size: unlimited
inner_pts: /dev/pts/5
outer_pts: /dev/pts/4
time: Fri Jun 24 10:33:44 2022
virt_iface: eth1
stolen_interface: eth0:eth0:192.168.42.1/24
cmdline: LD_PRELOAD=librt.so:libc.so.6:libpthread.so.0:libstdc++.so.6 /sbin/boxinit ro.boot.console=/pts/5 ro.hardware=anafi2 ro.model=anafi2 ro.debuggable=1 ro.revision=pv1 ro.debug_ipaddr=10.202.0.1 wifid.bridge=0 ro.simulator.kernel.version=5.13.0-51-generic ro.simulator.kernel.build=#58~20.04.1-Ubuntu_SMP_Tue_Jun_14_11:29:12_UTC_2022 ro.simulator.host.arch=x86_64 ro.simulator.host.user=cllebi ro.simulator.host.ip0=172.17.0.1 ro.simulator.host.mac0=02:42:ff:6f:8a:7b ro.simulator.host.ip1=192.168.0.179 ro.simulator.host.mac1=34:48:ed:84:14:7e ro.simulator.gpu.hardware=UHD_Graphics_630_(Mobile) ro.simulator.gpu.driver=driver=i915_latency=0 ro.simulator.gpu.nvidia.info=NVIDIA_UNIX_x86_64_Kernel_Module__510.73.05__Sat_May__7_05:30:26_UTC_2022 ro.simulator.host.name=pp257l.ad.phedre.fr ro.simulator.os.version=Ubuntu_20.04.4_LTS ro.simulator.sphinx.version=2.8.2 ro.with-front-cam=1 ro.gimbald=1 ro.depth.hil=0 ro.tracking.hil=0 ro.storage.sphinx_pattern=__undefined__
debug_ipaddr: 10.202.0.1
mountbind:
wan_access: 0
remote_ctrl_ip:
hil_active: 0
int_storage_size: 500MB
ext_storage_size: 10G
owner: pp257l.ad.phedre.fr-293293
-
Does
sphinx-cli camera depth_camerashow depth frames ? YES -
My Sphinx Command Lines :
sudo systemctl start firmwared.service
sphinx "/opt/parrot-sphinx/usr/share/sphinx/drones/anafi_ai.drone"::firmware=`pwd`/anafi2-pc.ext2.zip::p
ose="SUV" & parrot-ue4-sphx-tests -ams-config-file=demo.yaml -ams-path=DefaultPath,Suv
- My Sphinx logs :
Parrot-Sphinx simulator version 2.8.2
Connecting to firmwared version: 2.8.2
starting Telemetryd to capture true data...
Gazebo multi-robot simulator, version 11.2.0
Copyright (C) 2012 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] created parameter server on http:8383
[Msg] Waiting for a UE4 application to start...
[Msg] Waiting for a UE4 application to start...
[Msg] Waiting for a UE4 application to start...
[Msg] Waiting for a UE4 application to start...
[Msg] Waiting for a UE4 application to start...
[Msg] Waiting for a UE4 application to start...
[Msg] Waiting for a UE4 application to start...
[Msg] Waiting for a UE4 application to start...
[Msg] Waiting for a UE4 application to start...
[Msg] Waiting for a UE4 application to start...
[Msg] World params for 'default':
[Msg] spawn_points:
[Msg] - name: suv
[Msg] pose: 3.69923 0.399228 1.77178 0.000556 -0.000556 2e-06
[Msg] - name: default
[Msg] pose: 0 0 0.2 0 -0 0
[Msg] connected to firmwared
[Msg] Preparation of firmware /home/cllebi/Documents/NEXTER/nexter-poc-drone/sphinx/anafi2-pc.ext2.zip
[Msg] firmware /usr/share/firmwared/firmwares//anafi2-pc.ext2.zip.84f64f7e-1fdc-4b00-9a00-ed688a2bb04c.firmware supported hardwares:
[Msg] anafi2
[Msg] All firmwares prepared.
[Msg] Selected params to build .sdf file for anafi_ai:
param drone_iface = eth0
param drone_ip = 192.168.42.1/24
param hil_ip = auto
param invisible_body = 0
param photo_high_res = 0
param sdcard_serial = __undefined__
param virt_iface = eth1
param with_depth_hil = 0
param with_external_cams = 1
param with_front_cam = 1
param with_front_stcam = 1
param with_gimbal = 1
param with_tracking_hil = 0
param xmlns =
[Msg] Drone anafi_ai[99d3f0a4c8301d51a53140a62541306da96f8278] loaded
[Msg] Using Wifi interface 'eth0'
[Msg] Web dashboard is accessible at http://localhost:9002
[Msg] Instance tremulous_johanna[99d3f0a4c8301d51a53140a62541306da96f8278] restarted
[Msg] All drones instantiated
I hope it can help to find the issue …
In the output of fdc we can see that your driver is the intel one:
ro.simulator.gpu.hardware=UHD_Graphics_630_(Mobile) ro.simulator.gpu.driver=driver=i915_latency=0 ro.simulator.gpu.nvidia.info=NVIDIA_UNIX_x86_64_Kernel_Module__510.73.05__Sat_May__7_05:30:26_UTC_2022
I am wondering if you need to run this command to select the nvidia driver:
prime-select nvidia
Otherwise, I don’t see any issue.
Hi @ocrave,
Indeed it seems that sphinx isn’t using the right gpu hardware. Unfortunately, even with sudo prime-select nvidia, the fdc are the same :
ro.simulator.gpu.hardware=UHD_Graphics_630_(Mobile) ro.simulator.gpu.driver=driver=i915_latency=0 ro.simulator.gpu.nvidia.info=NVIDIA_UNIX_x86_64_Kernel_Module__510.73.05__Sat_May__7_05:30:26_UTC_2022
Is there a way to force Sphinx to use my Nvidia GPU ?
I’ve never encounter this issue with all other big software like Blender, Carla, etc. Hope there is a solution …
Best,
Clément
I think that the driver displayed by fdc is not the one used by Unreal. To make sure that Unreal detects your Nvidia GPU, you can start any Unreal app with this command line option:
-LogCmds=\"global log, logchecksubobjects none\"'
It should display the list of GPUs and the one it selects. If Unreal selects your Nvidia GPU, you don’t to worry about the output of fdc.
Hi @ocrave,
Here is the full log :
log.doc (224.5 KB)
It seems to use my GPU :
[2022.06.27-08.07.15:736][ 0]LogVulkanRHI: Display: Device 0: Intel(R) UHD Graphics 630 (CFL GT2)
[2022.06.27-08.07.15:736][ 0]LogVulkanRHI: Display: Device 1: llvmpipe (LLVM 12.0.0, 256 bits)
[2022.06.27-08.07.15:737][ 0]LogVulkanRHI: Display: Device 2: Quadro T1000
[2022.06.27-08.07.15:738][ 0]LogVulkanRHI: Display: Using Device 2: Geometry 1 Tessellation 1 BufferAtomic64 1
Also, my nvidia-smi show that gzserver and UnrealApp are using my Quatro T1000 :
nvidia-smi
Mon Jun 27 10:12:09 2022
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 510.73.05 Driver Version: 510.73.05 CUDA Version: 11.6 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 Quadro T1000 Off | 00000000:01:00.0 On | N/A |
| N/A 51C P0 17W / N/A | 2627MiB / 4096MiB | 31% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
| 0 N/A N/A 2138 G /usr/lib/xorg/Xorg 65MiB |
| 0 N/A N/A 3509 G /usr/lib/xorg/Xorg 390MiB |
| 0 N/A N/A 4243 G /usr/bin/gnome-shell 70MiB |
| 0 N/A N/A 6912 G ...RendererForSitePerProcess 129MiB |
| 0 N/A N/A 7977 G /usr/lib/firefox/firefox 185MiB |
| 0 N/A N/A 44362 G evolution 35MiB |
| 0 N/A N/A 71109 C+G .../Binaries/Linux/UnrealApp 1733MiB |
| 0 N/A N/A 71537 G gzserver 6MiB |
+-----------------------------------------------------------------------------+
Do you have other idea to fix this 01-01 01:00:46.481 E guidance (guidance-376) : getLastStereoFrame:226: videoFrame err=22(Invalid argument) error ?
Best,
Clément
OK, so there is no issue with your GPU since Unreal selects the right one.
I am unable to reproduce your getLastStereoFrame issue. I tried with several firmware versions. It is an important issue because it means that guidance fails to read depth frames.
Do you always have this issue? You can try this command to restart guidance:
adb connect 10.202.0.1:9050 ; adb shell prestart guidanceHI @ocrave,
Yes always have this issue on this computer.
The problem still occurs after running the command you sent.
Best,
Clément
Hello @ClementLeBihan ,
I am not entirely sure, but your getLastStereoFrame issue may be due to the fact that you have another firmware instance running in parallel (maybe after a crash). Can you tell us if you that is the case with:
fdc list instances
If that is the case, you can drop these “ghost” instances with:
fdc drop_all instances
when sphinx is not running.
Hi @ocrave,
Thank you to still help me !
Unfortunately fdc list instances return nothing or only the instance when the simulation is running.
It also happen right after a reboot so I’m not sure the problem come from this.
We found one computer in my company that doesn’t have this bug. The two others computer we tested have the same bug, same linux distribution, same network, same installation, but three different hardware. It’s really anoying because we can’t test our Guidance mode with obstacle avoidance on the PC where we have this bug.
I hope you’ll still try to help us 
Best,
Clément
The issue probably comes from the fact that the stereo cam is the only camera that communicates with the firmware with a TCP socket instead of a named socket. It could be that the firmware does not have access to 10.202.0.254 for some obscure reason. When there is just one firmware instance running, its IP address should be 10.202.0.1 for the host (can be seen with fdc show instances ) and the host address should be 10.202.0.254 in the instance. The two processes communicate on port number 15634. If you can see the frames with sphinx-cli on the host then it means that it is the firmware that does not have access to 10.202.0.254:15634. Do you have set some unconventional iptables rules?
Hi,
The only thing I did is adding 10.202.0.1 anafi-ai.local in my /etc/hosts because otherwise my computer wasn’t able to communicate with anafi-ai.local (install mission, etc).
Do you thing I should do the same for 10.202.0.254 ?
Also, when I run sphinx, I can see that drone_ip is 192.168.42.1/24. But I guess it should be 10.202.0.X no ?
[Msg] Preparation of firmware /home/cllebi/Documents/NEXTER/nexter-poc-drone/sphinx/anafi2-pc.ext2.zip
[Msg] firmware /usr/share/firmwared/firmwares//anafi2-pc.ext2.zip.b20d1498-e1fa-4922-84bf-d5085997771c.firmware supported hardwares:
[Msg] anafi2
[Msg] All firmwares prepared.
[Msg] Selected params to build .sdf file for anafi_ai:
param drone_iface = eth0
param drone_ip = 192.168.42.1/24
param hil_ip = auto
param invisible_body = 0
param photo_high_res = 0
param sdcard_serial = __undefined__
param virt_iface = eth1
param with_depth_hil = 0
param with_external_cams = 1
param with_front_cam = 1
param with_front_stcam = 1
param with_gimbal = 1
param with_tracking_hil = 0
Best,
Clément
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