Hi, everyone.
I need help with the olympe/sphinx simulator. I installed the simulator following the tutorial on the parrot website, but always when I do a simulation it locks the machine anda I cannot record the simulation.
(I use a virtual drone and need to record simulations for the reserarch)
Does your computer meet minimum requirements?
Can you send us some logs? What command line do you use to start sphinx?
Hi.
Yes, my computer have the minimals requisits. I used the command :
sudo systemctl start firmwared
sphinx /opt/parrot-sphinx/usr/share/sphinx/drones/anafi4k.drone::stolen_interface=::simple_front_cam=true
How i can send you my logs?
You can just copy/paste them here in a message.
You can try with ::simple_front_cam=false and with sphinx-server instead of sphinx to reduce your CPU/GPU usage. You can also copy/paste in this topic the content of the file ~/.gazebo/ogre.log after running sphinx to help us identify the issue.
may@may-VirtualBox:~$ sphinx /opt/parrot-sphinx/usr/share/sphinx/drones/anafi4k.drone::stolen_interface=::simple_front_cam=true
Parrot-Sphinx simulator version 1.8
connecting to firmwared version: 1.8
starting Telemetryd to capture true data…
I telemetryd: Creating daemon with rate 50 ms
I libtelemetry: clear logger filter
I telemetryd: Loading plugins from ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins/’
I telemetryd: Loading ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins//tlm-web-gndctrl.so’
I telemetryd: Loading ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins//tlm-gndctrl.so’
I telemetryd: Loading ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins//tlm-blackbox.so’
I tlmblackbox: setEnabled 1
I tlmblackbox: setCompressed 1
I tlmblackbox: setCompressionLevel 6
I tlmblackbox: setCompressionMethod zlib
I tlmblackbox: setLogDir ‘.’
I tlmblackbox: setLogName ‘log.tlmb’
I tlmblackbox: setLogCount 4
I tlmblackbox: setFilter *
I libtelemetry: clear logger filter
I tlmblackbox: setFlushPeriod 10000 ms
I tlmblackbox: setMaxSize -1 bytes
I tlmblackbox: rotate logs: ‘./sphinx-11345-log.tlmb.3’ → ‘./sphinx-11345-log.tlmb.4’
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
I tlmblackbox: rotate logs: ‘./sphinx-11345-log.tlmb.2’ → ‘./sphinx-11345-log.tlmb.3’
I tlmblackbox: rotate logs: ‘./sphinx-11345-log.tlmb.1’ → ‘./sphinx-11345-log.tlmb.2’
I tlmblackbox: rotate logs: ‘./sphinx-11345-log.tlmb’ → ‘./sphinx-11345-log.tlmb.1’
I tlmblackbox: Creating file ‘./sphinx-11345-log.tlmb’
I telemetryd: Entering loop
[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
Gtk-Message: 14:52:24.810: Failed to load module “canberra-gtk-module”
[Msg] created parameter server on http:8383
[Msg] World params for ‘default’:
[Msg] spawn_points:
[Msg] - name: default
[Msg] pose: 0 0 0.2 0 -0 0
[Msg] connected to firmwared
I shd: wind: created: generation=2 sample_count=4000 sample_size=24 sample_rate=1000 metadata_size=125
[Msg] Preparation of firmware http://plf.parrot.com/sphinx/firmwares/anafi/pc/latest/images/anafi-pc.ext2.zip
I shd: wind: opened: sample_count=4000 sample_size=24 sample_rate=1000 metadata_size=125
[Msg] firmware /usr/share/firmwared/firmwares//anafi-pc.ext2.zip.2f98521a-ae55-97a6-946e-87c62a5896f0.firmware supported hardwares:
[Msg] anafi4k
[Msg] Selected params to build .sdf file for anafi4k:
param low_gpu = 0
param product_pro = 0
param sdcard_serial = undefined
param simple_front_cam = 1
param with_external_cams = 0
param with_front_cam = 1
param with_gimbal = 1
param with_kalamos = 0
param xmlns =
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [Event.cc:87] Warning: Deleteing a connection right after creation. Make sure to save the ConnectionPtr from a Connect call
[Wrn] [PluginHelper.cc:70] Cannot get param ‘out_of_order’ in section ‘camera’
I shd: omniscient_anafi4k: created: generation=2 sample_count=4000 sample_size=192 sample_rate=1000 metadata_size=1125
I shd: time_anafi4k: created: generation=2 sample_count=4000 sample_size=24 sample_rate=1000 metadata_size=128
I shd: battery_anafi4k: created: generation=2 sample_count=4000 sample_size=8 sample_rate=1000 metadata_size=48
I shd: gps_anafi4k: created: generation=2 sample_count=4000 sample_size=48 sample_rate=1000 metadata_size=245
[Wrn] [GimbalMotor.cc:260] A timeout occurred for gimbal_motor_0
[Wrn] [GimbalMotor.cc:260] A timeout occurred for gimbal_motor_1
I shd: gps_anafi4k: opened: sample_count=4000 sample_size=48 sample_rate=1000 metadata_size=245
I shd: battery_anafi4k: opened: sample_count=4000 sample_size=8 sample_rate=1000 metadata_size=48
I shd: time_anafi4k: opened: sample_count=4000 sample_size=24 sample_rate=1000 metadata_size=128
I shd: omniscient_anafi4k: opened: sample_count=4000 sample_size=192 sample_rate=1000 metadata_size=1125
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Wrn] [ColladaLoader.cc:1503] Polylist input semantic: ‘COLOR’ is currently not supported
[Msg] Drone anafi4k[f7d98290a9d157e94eaefab133878a896866531b] loaded
[Msg] WEB DASHBOARD IS ACCESSIBLE at http://localhost:9002
[Msg] Instance adamant_adelina[f7d98290a9d157e94eaefab133878a896866531b] started
[Msg] All drones instantiated
I sphxpomp_handler: pid=14787,uid=1000,gid=1000 → pid=15191,uid=0,gid=0
[Msg] CleanupInstances
[Err] [Socket.cc:174] Socket 93 hung up
I sphxpomp_handler: pid=14787,uid=1000,gid=1000 → pid=15191,uid=0,gid=0
[Msg] Instance anafi4k[f7d98290a9d157e94eaefab133878a896866531b] dropped
I shd: omniscient_anafi4k: closed
I shd: time_anafi4k: closed
I shd: battery_anafi4k: closed
I shd: gps_anafi4k: closed
I : [2021-08-23 14:53:46] [info] Error getting remote endpoint: system:9 (Bad file descriptor)
I : [2021-08-23 14:53:46] [info] asio async_shutdown error: system:9 (Bad file descriptor)
I : [2021-08-23 14:53:46] [info] handle_accept error: Operation canceled
I : [2021-08-23 14:53:46] [info] Stopping acceptance of new connections because the underlying transport is no longer listening.
[Msg] CleanupFirmwares
^[[A[Msg] Firmware garrulous_bellatrix[17c37fe05a093f4c51c8daa4317b02a63ef234f9] unprepared (unmounted)
I shd: wind: closed
^[[A^[[AI telemetryd: sighandler: signo=15(Terminated)
I telemetryd: Exiting loop
I tlmblackbox: Closing file ‘./sphinx-11345-log.tlmb’
I telemetryd: Unloading ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins//tlm-blackbox.so’
I telemetryd: Unloading ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins//tlm-gndctrl.so’
I : [2021-08-23 14:53:47] [info] asio handle_accept error: asio.system:125 (Operation aborted.)
I : [2021-08-23 14:53:47] [info] Error getting remote endpoint: asio.system:9 (Bad file descriptor)
I : [2021-08-23 14:53:47] [info] asio async_shutdown error: asio.system:9 (Bad file descriptor)
I : [2021-08-23 14:53:47] [error] handle_accept error: Underlying Transport Error
I : [2021-08-23 14:53:47] [info] Stopping acceptance of new connections because the underlying transport is no longer listening.
I telemetryd: Unloading ‘/opt/parrot-sphinx/usr/bin/…/lib/tlm-plugins//tlm-web-gndctrl.so’
I shd: wind: closed
I shd: gps_anafi4k: closed
I shd: battery_anafi4k: closed
I shd: time_anafi4k: closed
I shd: omniscient_anafi4k: closed
This is what appears on the console when i open the gazebo with the script about moveby.py.
The move by script is:
from future import print_function #funçao do print
import olympe
import time
from olympe.messages.ardrone3.Piloting import TakeOff, moveBy, Landing
from olympe.messages.ardrone3.PilotingState import FlyingStateChanged
DRONE_IP = “10.202.0.1”
if name == “main”:
drone = olympe.Drone(DRONE_IP)
drone.connect()
drone(TakeOff() >> FlyingStateChanged(state=“hovering”, _timeout=5)).wait().success()
print(“Decolou”)
assert drone(moveBy(5, 0, 0, 0) >> FlyingStateChanged(state=“hovering”, _timeout=5)).wait().success()
print(“movendo-se”)
#time.sleep(10)
drone(Landing()).wait().success()
print(“pouso”)
drone.disconnect()
My virtual machine has these specifications, I don’t have a dedicated video card and it always crashes when I simulate something… Do you know what to say if it’s because of the lack of video card?
VirtualBox → this is not supported
The gazebo is not supported in virtualbox?
It might work, but we don’t test/support it as it might create many problems that you won’t have on a native environment .
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