Simulation Running Low on Gazebo - Camera Issue

Hi,

I’m trying to simulate the BEBOP2 on gazebo with the front camera on Ubuntu 18.04. Wherever I try to run
sphinx /opt/parrot-sphinx/usr/share/sphinx/drones/bebop2.drone the drone spawns but gazebo runs slowly. After 1 min an error show up on my terminal :

[Err] [ShmFrameServer.cc:118] Waited too long in vertical_camera
[Err] [ShmFrameServer.cc:118] Waited too long in vertical_camera
[Err] [ShmFrameServer.cc:118] Waited too long in vertical_camera
[Err] [ShmFrameServer.cc:118] Waited too long in vertical_camera
[Wrn] [IioObjectPrivate.hh:297] request for sample already ongoing!

If I try to run bebop_autonomy launch I get the following output :

PARAMETERS

/bebop/bebop_driver/bebop_ip: 10.202.0.1
/bebop/bebop_driver/camera_info_url: package://bebop_d...
/bebop/bebop_driver/cmd_vel_timeout: 0.2
/bebop/bebop_driver/odom_frame_id: odom
/bebop/bebop_driver/publish_odom_tf: True
/bebop/bebop_driver/reset_settings: True
/bebop/bebop_driver/states/enable_altitudechanged: True
/bebop/bebop_driver/states/enable_autotakeoffmodechanged: True
/bebop/bebop_driver/states/enable_camerastate_orientation: True
/bebop/bebop_driver/states/enable_commonstate_batterystatechanged: True
/bebop/bebop_driver/states/enable_commonstate_wifisignalchanged: True
/bebop/bebop_driver/states/enable_controllerstate_ispilotingchanged: True
/bebop/bebop_driver/states/enable_flightplanstate_availabilitystatechanged: True
/bebop/bebop_driver/states/enable_flightplanstate_componentstatelistchanged: True
/bebop/bebop_driver/states/enable_gpsstate_numberofsatellitechanged: True
/bebop/bebop_driver/states/enable_mavlinkstate_mavlinkfileplayingstatechanged: True
/bebop/bebop_driver/states/enable_mavlinkstate_mavlinkplayerrorstatechanged: True
/bebop/bebop_driver/states/enable_mediastreamingstate_videoenablechanged: True
/bebop/bebop_driver/states/enable_numberofsatellitechanged: True
/bebop/bebop_driver/states/enable_overheatstate_overheatchanged: True
/bebop/bebop_driver/states/enable_pilotingstate_altitudechanged: True
/bebop/bebop_driver/states/enable_pilotingstate_attitudechanged: True
/bebop/bebop_driver/states/enable_pilotingstate_flattrimchanged: True
/bebop/bebop_driver/states/enable_pilotingstate_flyingstatechanged: True
/bebop/bebop_driver/states/enable_pilotingstate_navigatehomestatechanged: True
/bebop/bebop_driver/states/enable_pilotingstate_positionchanged: True
/bebop/bebop_driver/states/enable_pilotingstate_speedchanged: True
/bebop/robot_description: <?xml version="1....
/rosdistro: melodic
/rosversion: 1.14.9

NODES
/bebop/
bebop_driver (bebop_driver/bebop_driver_node)
robot_state_publisher (robot_state_publisher/robot_state_publisher)

ROS_MASTER_URI=http://localhost:11311

process[bebop/bebop_driver-1]: started with pid [12143]
process[bebop/robot_state_publisher-2]: started with pid [12144]
[ INFO] [1600067324.347165778]: Initializing nodelet with 8 worker threads.
[ INFO] [1600067324.406158852]: [BebopSDK] 15:08:44:406 | Bebop:225 - Bebop Cnstr()
[ INFO] [1600067324.406302395]: Nodelet Cstr
[ INFO] [1600067324.410943248]: Connecting to Bebop …
[ INFO] [1600067324.412992959]: [CB] 15:08:44:412 | Ardrone3PilotingStateFlatTrimChanged:388 - [STATES] Enabling states/ardrone3/PilotingState/FlatTrimChanged
[ INFO] [1600067324.414216801]: [CB] 15:08:44:414 | Ardrone3PilotingStateFlyingStateChanged:432 - [STATES] Enabling states/ardrone3/PilotingState/FlyingStateChanged
[ INFO] [1600067324.417043154]: [CB] 15:08:44:417 | Ardrone3PilotingStateNavigateHomeStateChanged:534 - [STATES] Enabling states/ardrone3/PilotingState/NavigateHomeStateChanged
[ INFO] [1600067324.418278752]: [CB] 15:08:44:418 | Ardrone3PilotingStatePositionChanged:592 - [STATES] Enabling states/ardrone3/PilotingState/PositionChanged
[ INFO] [1600067324.419178138]: [CB] 15:08:44:419 | Ardrone3PilotingStateSpeedChanged:657 - [STATES] Enabling states/ardrone3/PilotingState/SpeedChanged
[ INFO] [1600067324.419994692]: [CB] 15:08:44:419 | Ardrone3PilotingStateAttitudeChanged:722 - [STATES] Enabling states/ardrone3/PilotingState/AttitudeChanged
[ INFO] [1600067324.420991501]: [CB] 15:08:44:420 | Ardrone3PilotingStateAltitudeChanged:838 - [STATES] Enabling states/ardrone3/PilotingState/AltitudeChanged
[ INFO] [1600067324.423979139]: [CB] 15:08:44:423 | Ardrone3MediaStreamingStateVideoEnableChanged:1388 - [STATES] Enabling states/ardrone3/MediaStreamingState/VideoEnableChanged
[ INFO] [1600067324.425048285]: [CB] 15:08:44:425 | Ardrone3CameraStateOrientation:1490 - [STATES] Enabling states/ardrone3/CameraState/Orientation
[ INFO] [1600067324.427477374]: [CB] 15:08:44:427 | Ardrone3GPSStateNumberOfSatelliteChanged:1882 - [STATES] Enabling states/ardrone3/GPSState/NumberOfSatelliteChanged
[ INFO] [1600067324.430142238]: [CB] 15:08:44:430 | CommonCommonStateBatteryStateChanged:148 - [STATES] Enabling states/common/CommonState/BatteryStateChanged
[ INFO] [1600067324.432298407]: [CB] 15:08:44:432 | CommonCommonStateWifiSignalChanged:510 - [STATES] Enabling states/common/CommonState/WifiSignalChanged
[ INFO] [1600067324.434972657]: [CB] 15:08:44:434 | CommonOverHeatStateOverHeatChanged:1023 - [STATES] Enabling states/common/OverHeatState/OverHeatChanged
[ INFO] [1600067324.436004898]: [CB] 15:08:44:435 | CommonMavlinkStateMavlinkFilePlayingStateChanged:1118 - [STATES] Enabling states/common/MavlinkState/MavlinkFilePlayingStateChanged
[ INFO] [1600067324.436862236]: [CB] 15:08:44:436 | CommonMavlinkStateMavlinkPlayErrorStateChanged:1183 - [STATES] Enabling states/common/MavlinkState/MavlinkPlayErrorStateChanged
[ INFO] [1600067324.439456384]: [CB] 15:08:44:439 | CommonFlightPlanStateAvailabilityStateChanged:1568 - [STATES] Enabling states/common/FlightPlanState/AvailabilityStateChanged
[ INFO] [1600067324.440189888]: [CB] 15:08:44:440 | CommonFlightPlanStateComponentStateListChanged:1619 - [STATES] Enabling states/common/FlightPlanState/ComponentStateListChanged
[ INFO] [1600067324.446888373]: [ARCONTROLLER_Network] 15:08:44:446 | ARCONTROLLER_Network_GetAvailableSocketPort:128 - d2c_port port: 43210
[ INFO] [1600067324.447165677]: [ARCONTROLLER_Stream2] 15:08:44:447 | ARCONTROLLER_Stream2_Open_Socket:143 - udp local port stream: 55004
[ INFO] [1600067324.447224899]: [ARCONTROLLER_Stream2] 15:08:44:447 | ARCONTROLLER_Stream2_Open_Socket:143 - udp local port control: 55005
[ERROR] [1600067324.447469316]: [ARDISCOVERY_Connection] 15:08:44:447 | ARDISCOVERY_Connection_ControllerInitSocket:669 - connect() SO_ERROR: 111 Connection refused
[ERROR] [1600067324.447576503]: [ARDISCOVERY_Device] 15:08:44:447 | ARDISCOVERY_Device_NewARNetworkAL:243 - error: Socket access permission denied
[ERROR] [1600067324.447648140]: [ARCONTROLLER_Network] 15:08:44:447 | ARCONTROLLER_Network_New:355 - error: Error during the getting of the ARNETWORKAL_Manager from the device
[ INFO] [1600067324.447835785]: [ARCONTROLLER_Device] 15:08:44:447 | ARCONTROLLER_Device_StartRun:5949 - Start failed or canceled.
[ERROR] [1600067324.447918074]: [ARCONTROLLER_Device] 15:08:44:447 | ARCONTROLLER_Device_StopNetwork:7264 - Error occured durring unregistering ARCommands to the feature ARCONTROLLER_DICTIONARY_KEY_GENER
[ERROR] [1600067324.447967021]: [ARCONTROLLER_Device] 15:08:44:447 | ARCONTROLLER_Device_StopNetwork:7282 - Error occured durring unregistering ARCommands to the feature ARCONTROLLER_DICTIONARY_KEY_ARDRO
[ERROR] [1600067324.448005139]: [ARCONTROLLER_Device] 15:08:44:447 | ARCONTROLLER_Device_StopNetwork:7291 - Error occured durring unregistering ARCommands to the feature ARCONTROLLER_DICTIONARY_KEY_COMMO
[ERROR] [1600067324.448025407]: [ARCONTROLLER_Device] 15:08:44:448 | ARCONTROLLER_Device_StopRun:5992 - StopNetwork failed with error :Bad parameters
[ERROR] [1600067324.448059847]: [ARCONTROLLER_Device] 15:08:44:448 | ARCONTROLLER_Device_StartRun:5957 - Start fail error :Error during the getting of the ARNETWORKAL_Manager from the device
[ INFO] [1600067324.448293898]: [BebopSDK] 15:08:44:448 | Cleanup:326 - Bebop Cleanup()
[FATAL] [1600067324.448591772]: Init failed: Waiting for device failed: No error
[ INFO] [1600067324.448736899]: Bebop Nodelet Dstr: 0
[ INFO] [1600067324.448769868]: Killing Camera Thread …
[ INFO] [1600067324.448808946]: Killing Aux Thread …
[bebop/bebop_driver-1] process has died [pid 12143, exit code -11, cmd /home/hyc/bebop_ws/devel/lib/bebop_driver/bebop_driver_node __name:=bebop_driver __log:=/home/hyc/.ros/log/4b6a883c-f657-11ea-8229-9aa57a12270e/bebop-bebop_driver-1.log].

These errors doesn’t occur with the front camera disabled. I updated my NVIDIA 940MX drivers and it should handle the simulation well.

Is there something I can test to see if it is a graphic card issue ?

Thanks.