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 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.
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:
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:
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.
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?
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 ?