Flytconsole always disconnected


#1

Hi,

We’re trying to get flytOS up and running on an Nvidia Jetson TX2 but have run into some problems.

We’ve managed to install flytOS without much problems, but it doesn’t seem to want to connect correctly, saying “disconnected” no matter what. The license seems to activate correctly though.

It keeps getting stuck and restarting at this message:

[FATAL] [1518445248.471814779]: heartbeat timeout called.. check serial connection to autopilot.. restarting mavros
[flytos/mavros-2] process has died [pid 24508, exit code -9, cmd /flyt/flytos/flytcore/lib/mavros/mavros_node __name:=mavros __log:=/home/nvidia/.ros/log/e7861620-0ffd-11e8-9bbf-00044b8d50e2/flytos-mavros-2.log].
log file: /home/nvidia/.ros/log/e7861620-0ffd-11e8-9bbf-00044b8d50e2/flytos-mavros-2*.log

Our full startup logs below:

================== FlytOS Startup Log ================
Mon Feb 12 15:05:42 2018:	Launching initial Log Server - you can check logs at http:///logs
Mon Feb 12 15:05:42 2018:	FlytOS will try to auto-detect autopilot in these ports : /dev/ttyTHS2, /dev/ttyS0, udpin:0.0.0.0:14550, /dev/ttyS2, /dev/ttyTHS3, /dev/ttyS3, /dev/ttyS1, 
Mon Feb 12 15:05:42 2018:	FlytOS will try to auto-detect autopilot in the above ports with baudrate: 921600, 57600, 115200, 
Mon Feb 12 15:05:42 2018:	Refer http://docs.flytbase.com/docs/FlytOS/Debugging/FAQ.html, if your serial port or baudrate is not included in the list. Also notify us at http://forums.flytbase.com/ so that we add it to our default list
Mon Feb 12 15:05:42 2018:	Trying to open /dev/ttyTHS2 with baudrate 921600
Mon Feb 12 15:05:46 2018:	[autopilot detect] check if connection to autopilot is indeed on port: /dev/ttyTHS2 with baudrate set as: 921600
Mon Feb 12 15:05:46 2018:	[autopilot detect] visit http://docs.flytbase.com/docs/FlytOS/Debugging/FAQ.html to find how to configure port and baudrate in FlytOS
Mon Feb 12 15:05:46 2018:	Trying to open /dev/ttyS0 with baudrate 921600
Mon Feb 12 15:05:49 2018:	Trying to open udpin:0.0.0.0:14550 with baudrate 921600
Mon Feb 12 15:05:52 2018:	Trying to open /dev/ttyS2 with baudrate 921600
Mon Feb 12 15:05:52 2018:	Trying to open /dev/ttyTHS3 with baudrate 921600
Mon Feb 12 15:05:55 2018:	Trying to open /dev/ttyS3 with baudrate 921600
Mon Feb 12 15:05:55 2018:	Trying to open /dev/ttyS1 with baudrate 921600
Mon Feb 12 15:05:55 2018:	Trying to open /dev/ttyTHS2 with baudrate 57600
Mon Feb 12 15:05:58 2018:	Trying to open /dev/ttyS0 with baudrate 57600
Mon Feb 12 15:06:01 2018:	Trying to open udpin:0.0.0.0:14550 with baudrate 57600
Mon Feb 12 15:06:04 2018:	Trying to open /dev/ttyS2 with baudrate 57600
Mon Feb 12 15:06:04 2018:	Trying to open /dev/ttyTHS3 with baudrate 57600
Mon Feb 12 15:06:07 2018:	Trying to open /dev/ttyS3 with baudrate 57600
Mon Feb 12 15:06:07 2018:	Trying to open /dev/ttyS1 with baudrate 57600
Mon Feb 12 15:06:07 2018:	Trying to open /dev/ttyTHS2 with baudrate 115200
Mon Feb 12 15:06:10 2018:	Trying to open /dev/ttyS0 with baudrate 115200
Mon Feb 12 15:06:13 2018:	Trying to open udpin:0.0.0.0:14550 with baudrate 115200
Mon Feb 12 15:06:16 2018:	Trying to open /dev/ttyS2 with baudrate 115200
Mon Feb 12 15:06:16 2018:	Trying to open /dev/ttyTHS3 with baudrate 115200
Mon Feb 12 15:06:19 2018:	Trying to open /dev/ttyS3 with baudrate 115200
Mon Feb 12 15:06:19 2018:	Trying to open /dev/ttyS1 with baudrate 115200
Mon Feb 12 15:06:19 2018:	Could not detect any serial port, with live autopilot connection
Mon Feb 12 15:06:19 2018:	Could not detect autopilot, proceeding with default 'PX4'
Mon Feb 12 15:06:19 2018:	Checking internet availability...
Mon Feb 12 15:06:19 2018:	Internet connection established
Mon Feb 12 15:06:20 2018:	Checking license on server..
Mon Feb 12 15:06:20 2018:	Check license status: 200 OK, Response: True
Mon Feb 12 15:06:20 2018:	License activation is: True
Mon Feb 12 15:06:20 2018:	Auto-Update: ON
Mon Feb 12 15:06:21 2018:	Download-Ready: False
Mon Feb 12 15:06:21 2018:	Downloaded version: null
Mon Feb 12 15:06:21 2018:	Blacklisted version: 
Mon Feb 12 15:06:21 2018:	Starting FlytOS...
Mon Feb 12 15:06:21 2018:	Checking for new updates
Mon Feb 12 15:06:21 2018:	Checking internet availability...
Mon Feb 12 15:06:21 2018:	Internet connection established
Mon Feb 12 15:06:21 2018:	Checking license on server..
Mon Feb 12 15:06:22 2018:	Check license status: 200 OK, Response: True
Mon Feb 12 15:06:22 2018:	Checking for updates on server..
Mon Feb 12 15:06:23 2018:	Check updates status: 200 OK, Response: 1.55
Mon Feb 12 15:06:23 2018:	FlytOS version is already up-to-date.
Mon Feb 12 15:06:23 2018:	Updating server with current FlytOS version:1.55
Mon Feb 12 15:06:24 2018:	Set update status: 200 OK, Response: True
Mon Feb 12 15:06:24 2018:	Exiting Startup.

For some reason flytOS doesn’t seem to detect our camera either (which is on /dev/video0 and works without problem when viewing via gstreamer.)

Cheers!


#2

Hi,

What autopilot are you using?
How have you connected your autopilot to Nvidia?
Have you tried connecting any autopilot with a companion computer before?
Have you configured the autopilot to enable communication with companion computer. Click here to know more.

Yes. ROS recently updated their opencv driver because of which you facing this issue. This is related to this thread. I would post a new debian for TX1/TX2 in this thread with resolved dependencies.

EDIT: Link to new debian. This would resolve your camera related issue. To install this debian:

  1. Remove already installed FlytOS package:

    sudo dpkg --purge flytcore-pe

  2. Install the downloaded debian package

    sudo dpkg -i flytosv1.5-5dopencvdeps.deb


#3

Hi,

Thanks for the quick response!
We have now fetched a pixhawk 2.1 and are attempting to connect it to the Nvidia.
We are complete novices to the world of drones and as such have never connected an autopilot before.

The pixhawk connects to our companion computer without a problem, but for some reason doesn’t seem to get picked up by the Nvidia at all.

Here are the startup logs:

================== FlytOS Startup Log ================
Thu Feb 22 12:03:49 2018: Launching initial Log Server - you can check logs at hp:///logs
Thu Feb 22 12:03:49 2018: FlytOS will try to auto-detect autopilot in these ports : /dev/ttyTHS2, /dev/ttyS0, udpin:0.0.0.0:14550, /dev/ttyS2, /dev/ttyTHS3, /dev/ttyS3, /dev/ttyS1,
Thu Feb 22 12:03:49 2018: FlytOS will try to auto-detect autopilot in the above ports with baudrate: 921600, 57600, 115200,
Thu Feb 22 12:03:49 2018: Refer h
p://docs.flytbase.com/docs/FlytOS/Debugging/FAQ.html, if your serial port or baudrate is not included in the list. Also notify us at hp://forums.flytbase.com/ so that we add it to our default list
Thu Feb 22 12:03:49 2018: Trying to open /dev/ttyTHS2 with baudrate 921600
Thu Feb 22 12:03:52 2018: [autopilot detect] check if connection to autopilot is indeed on port: /dev/ttyTHS2 with baudrate set as: 921600
Thu Feb 22 12:03:52 2018: [autopilot detect] visit h
p://docs.flytbase.com/docs/FlytOS/Debugging/FAQ.html to find how to configure port and baudrate in FlytOS
Thu Feb 22 12:03:52 2018: Trying to open /dev/ttyS0 with baudrate 921600
Thu Feb 22 12:03:55 2018: Trying to open udpin:0.0.0.0:14550 with baudrate 921600
Thu Feb 22 12:03:58 2018: Trying to open /dev/ttyS2 with baudrate 921600
Thu Feb 22 12:03:58 2018: Trying to open /dev/ttyTHS3 with baudrate 921600
Thu Feb 22 12:04:01 2018: Trying to open /dev/ttyS3 with baudrate 921600
Thu Feb 22 12:04:01 2018: Trying to open /dev/ttyS1 with baudrate 921600
Thu Feb 22 12:04:01 2018: Trying to open /dev/ttyTHS2 with baudrate 57600
Thu Feb 22 12:04:05 2018: Trying to open /dev/ttyS0 with baudrate 57600
Thu Feb 22 12:04:08 2018: Trying to open udpin:0.0.0.0:14550 with baudrate 57600
Thu Feb 22 12:04:11 2018: Trying to open /dev/ttyS2 with baudrate 57600
Thu Feb 22 12:04:11 2018: Trying to open /dev/ttyTHS3 with baudrate 57600
Thu Feb 22 12:04:14 2018: Trying to open /dev/ttyS3 with baudrate 57600
Thu Feb 22 12:04:14 2018: Trying to open /dev/ttyS1 with baudrate 57600
Thu Feb 22 12:04:14 2018: Trying to open /dev/ttyTHS2 with baudrate 115200
Thu Feb 22 12:04:17 2018: Trying to open /dev/ttyS0 with baudrate 115200
Thu Feb 22 12:04:20 2018: Trying to open udpin:0.0.0.0:14550 with baudrate 115200
Thu Feb 22 12:04:23 2018: Trying to open /dev/ttyS2 with baudrate 115200
Thu Feb 22 12:04:23 2018: Trying to open /dev/ttyTHS3 with baudrate 115200
Thu Feb 22 12:04:26 2018: Trying to open /dev/ttyS3 with baudrate 115200
Thu Feb 22 12:04:26 2018: Trying to open /dev/ttyS1 with baudrate 115200
Thu Feb 22 12:04:26 2018: Could not detect any serial port, with live autopilot connection
Thu Feb 22 12:04:26 2018: Could not detect autopilot, proceeding with default 'PX4’
Thu Feb 22 12:04:26 2018: Checking internet availability…
Thu Feb 22 12:04:26 2018: Internet connection established
Thu Feb 22 12:04:26 2018: Checking license on server…
Thu Feb 22 12:04:27 2018: Check license status: 200 OK, Response: True
Thu Feb 22 12:04:27 2018: License activation is: True
Thu Feb 22 12:04:27 2018: Auto-Update: ON
Thu Feb 22 12:04:27 2018: Download-Ready: False
Thu Feb 22 12:04:27 2018: Downloaded version: null
Thu Feb 22 12:04:27 2018: Blacklisted version:
Thu Feb 22 12:04:27 2018: Starting FlytOS…
Thu Feb 22 12:04:28 2018: Checking for new updates
Thu Feb 22 12:04:28 2018: Checking internet availability…
Thu Feb 22 12:04:28 2018: Internet connection established
Thu Feb 22 12:04:28 2018: Checking license on server…
Thu Feb 22 12:04:28 2018: Check license status: 200 OK, Response: True
Thu Feb 22 12:04:28 2018: Checking for updates on server…
Thu Feb 22 12:04:29 2018: Check updates status: 200 OK, Response: 1.55
Thu Feb 22 12:04:29 2018: FlytOS version is already up-to-date.
Thu Feb 22 12:04:29 2018: Updating server with current FlytOS version:1.55
Thu Feb 22 12:04:30 2018: Set update status: 200 OK, Response: True
Thu Feb 22 12:04:30 2018: Exiting Startup.

================== FlytOS Startup Log ================
Thu Feb 22 12:40:25 2018: Launching initial Log Server - you can check logs at hp:///logs
Thu Feb 22 12:40:26 2018: FlytOS will try to auto-detect autopilot in these ports : /dev/ttyTHS2, /dev/ttyS0, udpin:0.0.0.0:14550, /dev/ttyS2, /dev/ttyTHS3, /dev/ttyS3, /dev/ttyS1,
Thu Feb 22 12:40:26 2018: FlytOS will try to auto-detect autopilot in the above ports with baudrate: 921600, 57600, 115200,
Thu Feb 22 12:40:26 2018: Refer h
p://docs.flytbase.com/docs/FlytOS/Debugging/FAQ.html, if your serial port or baudrate is not included in the list. Also notify us at hp://forums.flytbase.com/ so that we add it to our default list
Thu Feb 22 12:40:26 2018: Trying to open /dev/ttyTHS2 with baudrate 921600
Thu Feb 22 12:40:29 2018: [autopilot detect] check if connection to autopilot is indeed on port: /dev/ttyTHS2 with baudrate set as: 921600
Thu Feb 22 12:40:29 2018: [autopilot detect] visit h
p://docs.flytbase.com/docs/FlytOS/Debugging/FAQ.html to find how to configure port and baudrate in FlytOS
Thu Feb 22 12:40:29 2018: Trying to open /dev/ttyS0 with baudrate 921600
Thu Feb 22 12:40:32 2018: Trying to open udpin:0.0.0.0:14550 with baudrate 921600
Thu Feb 22 12:40:35 2018: Trying to open /dev/ttyS2 with baudrate 921600
Thu Feb 22 12:40:35 2018: Trying to open /dev/ttyTHS3 with baudrate 921600
Thu Feb 22 12:40:38 2018: Trying to open /dev/ttyS3 with baudrate 921600
Thu Feb 22 12:40:38 2018: Trying to open /dev/ttyS1 with baudrate 921600
Thu Feb 22 12:40:38 2018: Trying to open /dev/ttyTHS2 with baudrate 57600
Thu Feb 22 12:40:42 2018: Trying to open /dev/ttyS0 with baudrate 57600
Thu Feb 22 12:40:45 2018: Trying to open udpin:0.0.0.0:14550 with baudrate 57600
Thu Feb 22 12:40:48 2018: Trying to open /dev/ttyS2 with baudrate 57600
Thu Feb 22 12:40:48 2018: Trying to open /dev/ttyTHS3 with baudrate 57600
Thu Feb 22 12:40:51 2018: Trying to open /dev/ttyS3 with baudrate 57600
Thu Feb 22 12:40:51 2018: Trying to open /dev/ttyS1 with baudrate 57600
Thu Feb 22 12:40:51 2018: Trying to open /dev/ttyTHS2 with baudrate 115200
Thu Feb 22 12:40:54 2018: Trying to open /dev/ttyS0 with baudrate 115200
Thu Feb 22 12:40:57 2018: Trying to open udpin:0.0.0.0:14550 with baudrate 115200
Thu Feb 22 12:41:00 2018: Trying to open /dev/ttyS2 with baudrate 115200
Thu Feb 22 12:41:00 2018: Trying to open /dev/ttyTHS3 with baudrate 115200
Thu Feb 22 12:41:03 2018: Trying to open /dev/ttyS3 with baudrate 115200
Thu Feb 22 12:41:03 2018: Trying to open /dev/ttyS1 with baudrate 115200
Thu Feb 22 12:41:03 2018: Could not detect any serial port, with live autopilot connection
Thu Feb 22 12:41:03 2018: Could not detect autopilot, proceeding with default 'PX4’
Thu Feb 22 12:41:03 2018: Checking internet availability…
Thu Feb 22 12:41:03 2018: Internet connection established
Thu Feb 22 12:41:04 2018: Checking license on server…
Thu Feb 22 12:41:05 2018: Check license status: 200 OK, Response: True
Thu Feb 22 12:41:05 2018: License activation is: True
Thu Feb 22 12:41:05 2018: Auto-Update: ON
Thu Feb 22 12:41:05 2018: Download-Ready: False
Thu Feb 22 12:41:05 2018: Downloaded version: null
Thu Feb 22 12:41:05 2018: Blacklisted version:
Thu Feb 22 12:41:05 2018: Starting FlytOS…
Thu Feb 22 12:41:06 2018: Checking for new updates
Thu Feb 22 12:41:06 2018: Checking internet availability…
Thu Feb 22 12:41:06 2018: Internet connection established
Thu Feb 22 12:41:06 2018: Checking license on server…
Thu Feb 22 12:41:07 2018: Check license status: 200 OK, Response: True
Thu Feb 22 12:41:07 2018: Checking for updates on server…
Thu Feb 22 12:41:08 2018: Check updates status: 200 OK, Response: 1.55
Thu Feb 22 12:41:08 2018: FlytOS version is already up-to-date.
Thu Feb 22 12:41:08 2018: Updating server with current FlytOS version:1.55
Thu Feb 22 12:41:14 2018: Set update status: 200 OK, Response: True
Thu Feb 22 12:41:14 2018: Exiting Startup.

This is the error message we get when running FlytOS:

[FATAL] [1519299691.826408987]: heartbeat timeout called… check serial connection to autopilot… restarting mavros
[flytos/mavros-2] process has died [pid 22026, exit code -9, cmd /flyt/flytos/flytcore/lib/mavros/mavros_node __name:=mavros __log:=/home/nvidia/.ros/log/450a3bc2-17c5-11e8-baa0-00044b8d50e2/flytos-mavros-2.log].
log file: /home/nvidia/.ros/log/450a3bc2-17c5-11e8-baa0-00044b8d50e2/flytos-mavros-2*.log

The video seems to be found by FlytOS after following your instructions, but it’s still not visible after selecting it and pressing the arrow icon, it sometimes (seemingly sporadically) throws a huge red error saying “this widget is not compatible with APM FlytSim”.

I checked in the log files for flytos-video_streaming as well and this is what it shows:

[rospy.client][INFO] 2018-02-19 12:23:14,920: init_node, name[/flytos/video_streaming], pid[2784]
[xmlrpc][INFO] 2018-02-19 12:23:14,925: XML-RPC server binding to 0.0.0.0:0
[rospy.init][INFO] 2018-02-19 12:23:14,929: ROS Slave URI: [hp://tegra-ubuntu:45910/]
[xmlrpc][INFO] 2018-02-19 12:23:14,927: Started XML-RPC server [h
p://tegra-ubuntu:45910/]
[rospy.impl.masterslave][INFO] 2018-02-19 12:23:14,930: _ready: hp://tegra-ubuntu:45910/
[xmlrpc][INFO] 2018-02-19 12:23:14,935: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2018-02-19 12:23:14,936: Registering with master node h
p://localhost:11311
[rospy.init][INFO] 2018-02-19 12:23:15,030: registered with master
[rospy.rosout][INFO] 2018-02-19 12:23:15,031: initializing /rosout core topic
[rospy.rosout][INFO] 2018-02-19 12:23:15,042: connected to core topic /rosout
[rospy.simtime][INFO] 2018-02-19 12:23:15,054: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic
[rospy.internal][INFO] 2018-02-19 12:23:15,296: topic[/rosout] adding connection to [/rosout], count 0
[rosout][ERROR] 2018-02-19 12:23:16,501: Commercial License not found exiting Raspberry-Pi video streaming node.
[rospy.core][INFO] 2018-02-19 12:23:16,502: signal_shutdown [atexit]
[rospy.internal][INFO] 2018-02-19 12:23:16,524: topic[/rosout] removing connection to /rosout
[rospy.impl.masterslave][INFO] 2018-02-19 12:23:16,524: atexit

Summary

This text will be hidden


#4

We have also tried to install FlytSim, but keep getting the error message that FlytSim does not support aarch64 which is what the Jetson TX2 uses.
Is there any way to go about this?


#5

Hi,

Flytsim is a SITL simulator and won’t connect to Pixhawk. You can install it on your laptop if you want to test your applications on the software before going for an actual flight.

To debug the video streaming issue, I would request you to send me the FlytOS Runlog. Currently, you have only sent me FlytOS startup log.
Moreover, can you please explain how you have configured your autopilot? How are you connecting Pixhawk to Nvidia?

How have you tested this?
It would be great if you could share a video of Pixhawk configuration and connection with Nvidia TX1.
If your are using UART, have you made sure to interchange RX/TX lines?


#6

Run logs:

… logging to /root/.ros/log/3e198aca-1879-11e8-a6cb-00044b8d50e2/roslaunch-tegra-ubuntu-2318.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
e]2;/flyt/flytos/flytcore/share/core_api/launch/core_api_autopilot.launcha
e[1mstarted roslaunch server http://tegra-ubuntu:45585/e[0m

SUMMARY

CLEAR PARAMETERS

  • /flytos/mavros/

PARAMETERS

  • /flytos/core_api_navigation/is_dji: False
  • /flytos/core_api_param/is_dji: False
  • /flytos/core_api_payload/is_dji: False
  • /flytos/core_api_setup/is_dji: False
  • /flytos/flytcam/brightness: 20
  • /flytos/flytcam/camera_info_url: file:///flyt/flyt…
  • /flytos/flytcam/framerate: 30
  • /flytos/flytcam/image_height: 480
  • /flytos/flytcam/image_width: 640
  • /flytos/flytcam/pixel_format: yuyv
  • /flytos/flytcam/video_device: /dev/video0
  • /flytos/mavros/cmd/use_comp_id_system_control: False
  • /flytos/mavros/component_id: 241
  • /flytos/mavros/conn/heartbeat_rate: 1.0
  • /flytos/mavros/conn/system_time_rate: 1.0
  • /flytos/mavros/conn/timeout: 20.0
  • /flytos/mavros/conn/timesync_rate: 1.0
  • /flytos/mavros/distance_sensor/hrlv_ez4_pub/field_of_view: 0.0
  • /flytos/mavros/distance_sensor/hrlv_ez4_pub/frame_id: hrlv_ez4_sonar
  • /flytos/mavros/distance_sensor/hrlv_ez4_pub/id: 1
  • /flytos/mavros/distance_sensor/hrlv_ez4_pub/orientation: ROLL_180
  • /flytos/mavros/distance_sensor/hrlv_ez4_pub/send_tf: True
  • /flytos/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/x: 0.0
  • /flytos/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/y: 0.0
  • /flytos/mavros/distance_sensor/hrlv_ez4_pub/sensor_position/z: -0.1
  • /flytos/mavros/distance_sensor/laser_1_sub/id: 3
  • /flytos/mavros/distance_sensor/laser_1_sub/orientation: ROLL_180
  • /flytos/mavros/distance_sensor/laser_1_sub/subscriber: True
  • /flytos/mavros/distance_sensor/lidarlite_pub/field_of_view: 0.0
  • /flytos/mavros/distance_sensor/lidarlite_pub/frame_id: lidarlite_laser
  • /flytos/mavros/distance_sensor/lidarlite_pub/id: 0
  • /flytos/mavros/distance_sensor/lidarlite_pub/orientation: ROLL_180
  • /flytos/mavros/distance_sensor/lidarlite_pub/send_tf: True
  • /flytos/mavros/distance_sensor/lidarlite_pub/sensor_position/x: 0.0
  • /flytos/mavros/distance_sensor/lidarlite_pub/sensor_position/y: 0.0
  • /flytos/mavros/distance_sensor/lidarlite_pub/sensor_position/z: -0.1
  • /flytos/mavros/distance_sensor/sonar_1_sub/id: 2
  • /flytos/mavros/distance_sensor/sonar_1_sub/orientation: ROLL_180
  • /flytos/mavros/distance_sensor/sonar_1_sub/subscriber: True
  • /flytos/mavros/fcu_protocol: v1.0
  • /flytos/mavros/fcu_url: /dev/ttyTHS2:921600
  • /flytos/mavros/gcs_url: tcp-l://:5760
  • /flytos/mavros/global_position/frame_id: fcu
  • /flytos/mavros/global_position/rot_covariance: 99999.0
  • /flytos/mavros/global_position/tf/child_frame_id: fcu_utm
  • /flytos/mavros/global_position/tf/frame_id: local_origin
  • /flytos/mavros/global_position/tf/send: False
  • /flytos/mavros/image/frame_id: px4flow
  • /flytos/mavros/imu/angular_velocity_stdev: 0.000349065850399
  • /flytos/mavros/imu/frame_id: fcu
  • /flytos/mavros/imu/linear_acceleration_stdev: 0.0003
  • /flytos/mavros/imu/magnetic_stdev: 0.0
  • /flytos/mavros/imu/orientation_stdev: 1.0
  • /flytos/mavros/local_position/frame_id: fcu
  • /flytos/mavros/local_position/tf/child_frame_id: fcu
  • /flytos/mavros/local_position/tf/frame_id: local_origin
  • /flytos/mavros/local_position/tf/send: False
  • /flytos/mavros/local_position/tf/send_fcu: False
  • /flytos/mavros/mission/pull_after_gcs: True
  • /flytos/mavros/mocap/use_pose: True
  • /flytos/mavros/mocap/use_tf: False
  • /flytos/mavros/param/force_update_params: False
  • /flytos/mavros/plugin_blacklist: [‘safety_area’, '…
  • /flytos/mavros/plugin_whitelist: []
  • /flytos/mavros/px4flow/frame_id: px4flow
  • /flytos/mavros/px4flow/ranger_fov: 0.0
  • /flytos/mavros/px4flow/ranger_max_range: 5.0
  • /flytos/mavros/px4flow/ranger_min_range: 0.3
  • /flytos/mavros/safety_area/p1/x: 1.0
  • /flytos/mavros/safety_area/p1/y: 1.0
  • /flytos/mavros/safety_area/p1/z: 1.0
  • /flytos/mavros/safety_area/p2/x: -1.0
  • /flytos/mavros/safety_area/p2/y: -1.0
  • /flytos/mavros/safety_area/p2/z: -1.0
  • /flytos/mavros/setpoint_accel/send_force: False
  • /flytos/mavros/setpoint_attitude/reverse_throttle: False
  • /flytos/mavros/setpoint_attitude/tf/child_frame_id: attitude
  • /flytos/mavros/setpoint_attitude/tf/frame_id: local_origin
  • /flytos/mavros/setpoint_attitude/tf/listen: False
  • /flytos/mavros/setpoint_attitude/tf/rate_limit: 10.0
  • /flytos/mavros/setpoint_position/tf/child_frame_id: setpoint
  • /flytos/mavros/setpoint_position/tf/frame_id: local_origin
  • /flytos/mavros/setpoint_position/tf/listen: False
  • /flytos/mavros/setpoint_position/tf/rate_limit: 50.0
  • /flytos/mavros/startup_px4_usb_quirk: True
  • /flytos/mavros/sys/disable_diag: False
  • /flytos/mavros/sys/min_voltage: 10.0
  • /flytos/mavros/system_id: 255
  • /flytos/mavros/target_component_id: 0
  • /flytos/mavros/target_system_id: 1
  • /flytos/mavros/tdr_radio/low_rssi: 40
  • /flytos/mavros/time/time_ref_source: fcu
  • /flytos/mavros/time/timesync_avg_alpha: 0.6
  • /flytos/mavros/vibration/frame_id: vibration
  • /flytos/mavros/vision_pose/tf/child_frame_id: vision
  • /flytos/mavros/vision_pose/tf/frame_id: local_origin
  • /flytos/mavros/vision_pose/tf/listen: False
  • /flytos/mavros/vision_pose/tf/rate_limit: 10.0
  • /flytos/mavros/vision_speed/listen_twist: False
  • /flytos/parameters/flyt/global_namespace: flytos
  • /flytos/rostful/enable_cache: False
  • /flytos/rostful/params: []
  • /flytos/rostful/services: [’/.*/param/param…
  • /flytos/rostful/topics: [’/.*/mavros/batt…
  • /global_namespace: flytos
  • /rosdistro: kinetic
  • /rosversion: 1.12.12

NODES
/flytos/
core_api_navigation (core_api/navigation_api)
core_api_param (core_api/param_api)
core_api_payload (core_api/payload_api)
core_api_setup (core_api/setup_api)
flyt_cl (flyt_remote_link/flyt_remote_client)
flyt_ms_node (flyt_ms/flyt_ms_node)
flytcam (usb_cam/usb_cam_node)
image_capture (vision_apps/image_capture)
mavros (mavros/mavros_node)
navigation_server (navigation_util/navigation_server)
rosapi (rosapi/rosapi_node)
rostful (rostful/devserver)
video_streaming (vision_apps/video_streaming)
web_video_server (web_video_server/web_video_server)

auto-starting new master
e[1mprocess[master]: started with pid [2395]e[0m
e[1mROS_MASTER_URI=http://localhost:11311e[0m
e]2;/flyt/flytos/flytcore/share/core_api/launch/core_api_autopilot.launch http://localhost:11311a
e[1msetting /run_id to 3e198aca-1879-11e8-a6cb-00044b8d50e2e[0m
e[1mprocess[rosout-1]: started with pid [2413]e[0m
started core service [/rosout]
e[1mprocess[flytos/mavros-2]: started with pid [2431]e[0m
e[1mprocess[flytos/core_api_param-3]: started with pid [2432]e[0m
e[1mprocess[flytos/core_api_setup-4]: started with pid [2433]e[0m
e[1mprocess[flytos/core_api_navigation-5]: started with pid [2441]e[0m
e[1mprocess[flytos/core_api_payload-6]: started with pid [2464]e[0m
e[1mprocess[flytos/navigation_server-7]: started with pid [2472]e[0m
e[1mprocess[flytos/rostful-8]: started with pid [2490]e[0m

  • python -tt -m rostful run -h 0.0.0.0 -p 80 -s tornado ‘–ros-arg=~connections_list:=/rocon/connection_cache/list’ ‘–ros-arg=~connections_diff:=/rocon/connection_cache/diff’ --ros-arg=__name:=rostful --ros-arg=__log:=/root/.ros/log/3e198aca-1879-11e8-a6cb-00044b8d50e2/flytos-rostful-8.log
    e[1mprocess[flytos/rosapi-9]: started with pid [2499]e[0m
    e[1mprocess[flytos/flyt_cl-10]: started with pid [2506]e[0m
    e[1mprocess[flytos/flyt_ms_node-11]: started with pid [2513]e[0m
    e[1mprocess[flytos/flytcam-12]: started with pid [2529]e[0m
    e[1mprocess[flytos/image_capture-13]: started with pid [2537]e[0m
    e[1mprocess[flytos/web_video_server-14]: started with pid [2544]e[0m
    e[1mprocess[flytos/video_streaming-15]: started with pid [2550]e[0m
    registered capabilities (classes):
  • rosbridge_library.capabilities.call_service.CallService
  • rosbridge_library.capabilities.advertise.Advertise
  • rosbridge_library.capabilities.publish.Publish
  • rosbridge_library.capabilities.subscribe.Subscribe
  • <class ‘rosbridge_library.capabilities.defragmentation.Defragment’>
  • rosbridge_library.capabilities.advertise_service.AdvertiseService
  • rosbridge_library.capabilities.service_response.ServiceResponse
  • rosbridge_library.capabilities.unadvertise_service.UnadvertiseService
    e[0m[ INFO] [1519376966.983188627]: Waiting For connections on 0.0.0.0:8080e[0m
    WARNING:root:ZMQ : Protobuf message implementation not found. Using pickle based protocol
    e[0m[ INFO] [1519376967.463833043]: FCU URL: /dev/ttyTHS2:921600e[0m
    e[0m[ INFO] [1519376967.466272403]: serial0: device: /dev/ttyTHS2 @ 921600 bpse[0m
    e[0m[ INFO] [1519376967.481452147]: GCS URL: tcp-l://:5760e[0m
    e[0m[ INFO] [1519376967.483354707]: tcp1: Bind address: 0.0.0.0:5760e[0m
    Device connected to staging server at https://my-staging.flytbase.com
    the rosdep view is empty: call ‘sudo rosdep init’ and ‘rosdep update’
    [WARN] [1519376967.890115]: FlytBase client: Closing, disabled in config
    e[0m[ INFO] [1519376967.948385203]: [LIC] license file valid, checking for date validitye[0m
    e[0m[ INFO] [1519376967.996951987]: Plugin 3dr_radio loadede[0m
    e[0m[ INFO] [1519376968.114526739]: Plugin 3dr_radio initializede[0m
    e[0m[ INFO] [1519376968.114866835]: Plugin altitude loadede[0m
    e[0m[ INFO] [1519376968.173983795]: Plugin altitude initializede[0m
    e[0m[ INFO] [1519376968.174347059]: Plugin autopilot_app_control loadede[0m
    e[0m[ INFO] [1519376968.188831603]: Plugin autopilot_app_control initializede[0m
    e[0m[ INFO] [1519376968.189224467]: Plugin command loadede[0m
    e[0m[ INFO] [1519376968.331583731]: Plugin command initializede[0m
    Device connected to staging server at https://my-staging.flytbase.com
    e[0m[ INFO] [1519376968.478377299]: Plugin distance_sensor loadede[0m
    e[0m[ INFO] [1519376968.717651859]: camera calibration URL: file:///flyt/flytos/flytcore/share/vision_apps/calibration/calibration.yamle[0m
    e[33m[ WARN] [1519376968.721672403]: [head_camera] does not match name narrow_stereo in file /flyt/flytos/flytcore/share/vision_apps/calibration/calibration.yamle[0m
    e[0m[ INFO] [1519376968.721804883]: Starting ‘head_camera’ (/dev/video0) at 640x480 via mmap (yuyv) at 30 FPSe[0m
    e[31m[ERROR] [1519376968.733761427]: VIDIOC_S_FMT error 22, Invalid argumente[0m
    [ERROR] [1519376968.929901]: Commercial License not found exiting Raspberry-Pi video streaming node.

INFO in main [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/main.py:73]:
arguments passed : host 0.0.0.0 port 80 config None ros_args (u’~connections_list:=/rocon/connection_cache/list’, u’~connections_diff:=/rocon/connection_cache/diff’, u’__name:=rostful’, u’__log:=/root/.ros/log/3e198aca-1879-11e8-a6cb-00044b8d50e2/flytos-rostful-8.log’)

INFO:rostful:arguments passed : host 0.0.0.0 port 80 config None ros_args (u’~connections_list:=/rocon/connection_cache/list’, u’~connections_diff:=/rocon/connection_cache/diff’, u’__name:=rostful’, u’__log:=/root/.ros/log/3e198aca-1879-11e8-a6cb-00044b8d50e2/flytos-rostful-8.log’)
WARNING:root:Setting up pyros ROS node…
e[0m[ INFO] [1519376969.113271219]: Plugin distance_sensor initializede[0m
e[0m[ INFO] [1519376969.114666291]: Plugin ftp loadede[0m
WARNING:root:Setting up pyros actual client…
e[0m[ INFO] [1519376969.212097491]: Plugin ftp initializede[0m
e[0m[ INFO] [1519376969.212222259]: Plugin geofence blacklistede[0m
e[0m[ INFO] [1519376969.212655347]: Plugin global_position loadede[0m
e[31m[flytos/flytcam-12] process has died [pid 2529, exit code 1, cmd /flyt/flytos/flytcore/lib/usb_cam/usb_cam_node __name:=flytcam __log:=/root/.ros/log/3e198aca-1879-11e8-a6cb-00044b8d50e2/flytos-flytcam-12.log].
log file: /root/.ros/log/3e198aca-1879-11e8-a6cb-00044b8d50e2/flytos-flytcam-12*.loge[0m
e[1m[flytos/video_streaming-15] process has finished cleanly
log file: /root/.ros/log/3e198aca-1879-11e8-a6cb-00044b8d50e2/flytos-video_streaming-15*.loge[0m
e[0m[ INFO] [1519376969.296846515]: Plugin global_position initializede[0m
e[0m[ INFO] [1519376969.297268435]: Plugin home_position loadede[0m
e[0m[ INFO] [1519376969.309969843]: Plugin home_position initializede[0m
e[0m[ INFO] [1519376969.310392723]: Plugin imu_pub loadede[0m
e[0m[ INFO] [1519376969.370170291]: Plugin imu_pub initializede[0m
e[0m[ INFO] [1519376969.370581075]: Plugin local_position loadede[0m
e[0m[ INFO] [1519376969.410492563]: Plugin local_position initializede[0m
e[0m[ INFO] [1519376969.410983507]: Plugin log_list loadede[0m
e[0m[ INFO] [1519376969.445424883]: Plugin log_list initializede[0m
e[0m[ INFO] [1519376969.445903411]: Plugin manual_control loadede[0m
e[0m[ INFO] [1519376969.455422547]: Plugin manual_control initializede[0m
e[0m[ INFO] [1519376969.455789331]: Plugin mocap_pose_estimate loadede[0m
e[0m[ INFO] [1519376969.530297683]: Plugin mocap_pose_estimate initializede[0m
e[0m[ INFO] [1519376969.530673331]: Plugin odom loadede[0m
e[0m[ INFO] [1519376969.581692371]: Plugin odom initializede[0m
e[0m[ INFO] [1519376969.582355027]: Plugin param loadede[0m
[INFO] [1519376969.625764]: Connection accepted by CL server, cloud API interface is online
e[0m[ INFO] [1519376969.633700499]: Plugin param initializede[0m
e[0m[ INFO] [1519376969.634131283]: Plugin payload loadede[0m
e[0m[ INFO] [1519376969.634524115]: initializee[0m
e[0m[ INFO] [1519376969.671457715]: Plugin payload initializede[0m
e[0m[ INFO] [1519376969.671831059]: Plugin px4flow loadede[0m
e[0m[ INFO] [1519376969.715873779]: Plugin px4flow initializede[0m
e[0m[ INFO] [1519376969.716435699]: Plugin rc_io loadede[0m
e[0m[ INFO] [1519376969.749900115]: Plugin rc_io initializede[0m
e[0m[ INFO] [1519376969.750320435]: Plugin setpoint_position loadede[0m
e[0m[ INFO] [1519376969.884423891]: Plugin setpoint_position initializede[0m
e[0m[ INFO] [1519376969.884866899]: Plugin setpoint_raw loadede[0m

INFO in server [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/server.py:184]:
Starting Tornado server on 0.0.0.0:80

e[0m[ INFO] [1519376969.999010931]: Plugin setpoint_raw initializede[0m
e[0m[ INFO] [1519376969.999452147]: Plugin setpoint_velocity loadede[0m
e[0m[ INFO] [1519376970.010514003]: Plugin setpoint_velocity initializede[0m
e[0m[ INFO] [1519376970.011257427]: Plugin sys_status loadede[0m
e[0m[ INFO] [1519376970.095475987]: Plugin sys_status initializede[0m
e[0m[ INFO] [1519376970.095933619]: Plugin sys_time loadede[0m
e[0m[ INFO] [1519376970.137997747]: Plugin sys_time initializede[0m
e[0m[ INFO] [1519376970.138383123]: Plugin vfr_hud loadede[0m
the rosdep view is empty: call ‘sudo rosdep init’ and ‘rosdep update’
[INFO] [1519376970.152075]: [Client 234524352345] Subscribed to /rosout
e[0m[ INFO] [1519376970.154385587]: Plugin vfr_hud initializede[0m
e[0m[ INFO] [1519376970.154484403]: Plugin vibration blacklistede[0m
e[0m[ INFO] [1519376970.154854963]: Plugin vision_pose_estimate loadede[0m
e[0m[ INFO] [1519376970.200429747]: Plugin vision_pose_estimate initializede[0m
e[0m[ INFO] [1519376970.200834547]: Plugin vision_speed_estimate loadede[0m
e[0m[ INFO] [1519376970.217748627]: Plugin vision_speed_estimate initializede[0m
e[0m[ INFO] [1519376970.218212339]: Plugin waypoint loadede[0m
e[0m[ INFO] [1519376970.274544403]: Plugin waypoint initializede[0m
e[0m[ INFO] [1519376970.274716563]: Autostarting mavlink via USB on PX4e[0m
e[0m[ INFO] [1519376970.275036435]: Built-in SIMD instructions: ARM NEONe[0m
e[0m[ INFO] [1519376970.275102739]: Built-in MAVLink package version: 2016.11.11e[0m
e[0m[ INFO] [1519376970.275166291]: Known MAVLink dialects: common ardupilotmegae[0m
e[0m[ INFO] [1519376970.275207475]: MAVROS started. MY ID 255.241, TARGET ID 1.0e[0m
the rosdep view is empty: call ‘sudo rosdep init’ and 'rosdep update’
e[0m[ INFO] [1519376978.184884947]: [LIC] license file valid, system date validity check donee[0m
e[31m[FATAL] [1519376990.070573247]: heartbeat timeout called… check serial connection to autopilot… restarting mavrose[0m
e[31m[flytos/mavros-2] process has died [pid 2431, exit code -9, cmd /flyt/flytos/flytcore/lib/mavros/mavros_node __name:=mavros __log:=/root/.ros/log/3e198aca-1879-11e8-a6cb-00044b8d50e2/flytos-mavros-2.log].
log file: /root/.ros/log/3e198aca-1879-11e8-a6cb-00044b8d50e2/flytos-mavros-2*.loge[0m
the rosdep view is empty: call ‘sudo rosdep init’ and ‘rosdep update’

DEBUG in flask_views [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/flask_views.py:499]:
calling service /flytos/param/param_get_all with msg : {‘get_only_ap’: True, ‘fresh_pull’: False}


INFO in server [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/server.py:261]:
http://localhost:8080/api_list_streams?namespace=flytos

e[0m[ INFO] [1519376993.130173411]: Handling Request: /api_list_streams?namespace=flytose[0m
[flytos/mavros-2] restarting process
e[1mprocess[flytos/mavros-2]: started with pid [5349]e[0m
e[0m[ INFO] [1519377000.392889072]: FCU URL: /dev/ttyTHS2:921600e[0m
e[0m[ INFO] [1519377000.395310314]: serial0: device: /dev/ttyTHS2 @ 921600 bpse[0m
e[0m[ INFO] [1519377000.406132477]: GCS URL: tcp-l://:5760e[0m
e[0m[ INFO] [1519377000.407174450]: tcp1: Bind address: 0.0.0.0:5760e[0m
e[0m[ INFO] [1519377000.599293484]: Plugin 3dr_radio loadede[0m
e[0m[ INFO] [1519377000.620405748]: Plugin 3dr_radio initializede[0m
e[0m[ INFO] [1519377000.620744996]: Plugin altitude loadede[0m
e[0m[ INFO] [1519377000.640540758]: Plugin altitude initializede[0m
e[0m[ INFO] [1519377000.640896138]: Plugin autopilot_app_control loadede[0m
e[0m[ INFO] [1519377000.646959805]: Plugin autopilot_app_control initializede[0m
e[0m[ INFO] [1519377000.647342071]: Plugin command loadede[0m
e[0m[ INFO] [1519377000.677271194]: Plugin command initializede[0m
[WARN] [1519377000.678553]: Could not process inbound connection: Internal error processing topic [/flytos/mavros/imu/mag]{‘message_definition’: ’ # Measurement of the Magnetic Field vector at a specific location.\n\n # If the covariance of the measurement is known, it should be filled in\n # (if all you know is the variance of each measurement, e.g. from the datasheet,\n #just put those along the diagonal)\n # A covariance matrix of all zeros will be interpreted as “covariance unknown”,\n # and to use the data a covariance will have to be assumed or gotten from some\n # other source\n\n\n Header header # timestamp is the time the\n # field was measured\n # frame_id is the location and orientation\n # of the field measurement\n\n geometry_msgs/Vector3 magnetic_field # x, y, and z components of the\n # field vector in Tesla\n # If your sensor does not output 3 axes,\n # put NaNs in the components not reported.\n\n float64[9] magnetic_field_covariance # Row major about x, y, z axes\n # 0 is interpreted as variance unknown\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called ‘secs’)\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called ‘nsecs’)\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\n# 0: no frame\n# 1: global frame\nstring frame_id\n\n================================================================================\nMSG: geometry_msgs/Vector3\n# This represents a vector in free space. \n# It is only meant to represent a direction. Therefore, it does not\n# make sense to apply a translation to it (e.g., when applying a \n# generic rigid transformation to a Vector3, tf2 will only apply the\n# rotation). If you want your data to be translatable too, use the\n# geometry_msgs/Point message instead.\n\nfloat64 x\nfloat64 y\nfloat64 z’, ‘callerid’: ‘/flytos/rostful’, ‘tcp_nodelay’: ‘0’, ‘md5sum’: ‘2f3b0b43eed0c9501de0fa3ff89a45aa’, ‘topic’: ‘/flytos/mavros/imu/mag’, ‘type’: ‘sensor_msgs/MagneticField’}
[WARN] [1519377000.701439]: Could not process inbound connection: [/flytos/rostful] is not a publisher of [/flytos/mavros/payload_adc]. Topics are [[’/flytos/mavros/global_position/global’, ‘sensor_msgs/NavSatFix’], [’/flytos/mavros/mission/waypoint_achieved’, ‘std_msgs/Int8’], [’/flytos/mavros/rc/in’, ‘mavros_msgs/RCIn’], [’/flytos/mavros/imu/data_euler’, ‘geometry_msgs/TwistStamped’], [’/rosout’, ‘rosgraph_msgs/Log’], [’/flytos/mavros/state’, ‘mavros_msgs/State’], [’/flytos/navigation_server_pos/result’, ‘navigation_util/NavigationPosActionResult’], [’/flytos/mavros/home_position’, ‘mavros_msgs/HomePosition’], [’/flytos/mavros/extended_state’, ‘mavros_msgs/ExtendedState’], [’/flytos/flyt/state’, ‘mavros_msgs/State’], [’/flytos/mavros/radio_status’, ‘mavros_msgs/RadioStatus’], [’/flytos/mavros/local_position/local’, ‘geometry_msgs/TwistStamped’], [’/flytos/mavros/battery’, ‘sensor_msgs/BatteryState’], [’/flytos/mavros/vfr_hud’, ‘mavros_msgs/VFR_HUD’], [’/flytos/mavros/global_position/raw/fix’, ‘sensor_msgs/NavSatFix’], [’/flytos/mavros/imu/data’, ‘sensor_msgs/Imu’]]{‘message_definition’: “std_msgs/Header header\nfloat32[2] adc_voltage\nuint8 adc_updated\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called ‘secs’)\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called ‘nsecs’)\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\n# 0: no frame\n# 1: global frame\nstring frame_id\n”, ‘callerid’: ‘/flytos/rostful’, ‘tcp_nodelay’: ‘0’, ‘md5sum’: ‘d60a08e63bfc8af231e94c19fbd81263’, ‘topic’: ‘/flytos/mavros/payload_adc’, ‘type’: ‘mavros_msgs/PayloadADC’}
[WARN] [1519377000.722329]: Could not process inbound connection: [/flytos/rostful] is not a publisher of [/flytos/mavros/radio_status]. Topics are [[’/flytos/mavros/global_position/global’, ‘sensor_msgs/NavSatFix’], [’/flytos/mavros/mission/waypoint_achieved’, ‘std_msgs/Int8’], [’/flytos/mavros/rc/in’, ‘mavros_msgs/RCIn’], [’/flytos/mavros/imu/data_euler’, ‘geometry_msgs/TwistStamped’], [’/rosout’, ‘rosgraph_msgs/Log’], [’/flytos/mavros/state’, ‘mavros_msgs/State’], [’/flytos/navigation_server_pos/result’, ‘navigation_util/NavigationPosActionResult’], [’/flytos/mavros/home_position’, ‘mavros_msgs/HomePosition’], [’/flytos/mavros/extended_state’, ‘mavros_msgs/ExtendedState’], [’/flytos/flyt/state’, ‘mavros_msgs/State’], [’/flytos/mavros/local_position/local’, ‘geometry_msgs/TwistStamped’], [’/flytos/mavros/battery’, ‘sensor_msgs/BatteryState’], [’/flytos/mavros/vfr_hud’, ‘mavros_msgs/VFR_HUD’], [’/flytos/mavros/global_position/raw/fix’, ‘sensor_msgs/NavSatFix’], [’/flytos/mavros/imu/data’, ‘sensor_msgs/Imu’]]{‘message_definition’: “# RADIO_STATUS message\n\nstd_msgs/Header header\n\n# message data\nuint8 rssi\nuint8 remrssi\nuint8 txbuf\nuint8 noise\nuint8 remnoise\nuint16 rxerrors\nuint16 fixed\n\n# calculated\nfloat32 rssi_dbm\nfloat32 remrssi_dbm\n\n================================================================================\nMSG: std_msgs/Header\n# Standard metadata for higher-level stamped data types.\n# This is generally used to communicate timestamped data \n# in a particular coordinate frame.\n# \n# sequence ID: consecutively increasing ID \nuint32 seq\n#Two-integer timestamp that is expressed as:\n# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called ‘secs’)\n# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called ‘nsecs’)\n# time-handling sugar is provided by the client library\ntime stamp\n#Frame this data is associated with\n# 0: no frame\n# 1: global frame\nstring frame_id\n”, ‘callerid’: ‘/flytos/rostful’, ‘tcp_nodelay’: ‘0’, ‘md5sum’: ‘04e4a879bb2687140da50a1a821e2190’, ‘topic’: ‘/flytos/mavros/radio_status’, ‘type’: ‘mavros_msgs/RadioStatus’}
e[0m[ INFO] [1519377000.794851279]: Plugin distance_sensor loadede[0m
e[0m[ INFO] [1519377000.872516276]: Plugin distance_sensor initializede[0m
e[0m[ INFO] [1519377000.873266340]: Plugin ftp loadede[0m
e[0m[ INFO] [1519377000.907441006]: Plugin ftp initializede[0m
e[0m[ INFO] [1519377000.907560938]: Plugin geofence blacklistede[0m
e[0m[ INFO] [1519377000.907930177]: Plugin global_position loadede[0m
e[0m[ INFO] [1519377000.937194088]: Plugin global_position initializede[0m
e[0m[ INFO] [1519377000.937931573]: Plugin home_position loadede[0m
e[0m[ INFO] [1519377000.955038255]: Plugin home_position initializede[0m
e[0m[ INFO] [1519377000.955464371]: Plugin imu_pub loadede[0m
e[0m[ INFO] [1519377001.017355990]: Plugin imu_pub initializede[0m
e[0m[ INFO] [1519377001.017758190]: Plugin local_position loadede[0m
e[0m[ INFO] [1519377001.046726085]: Plugin local_position initializede[0m
e[0m[ INFO] [1519377001.047218418]: Plugin log_list loadede[0m
e[0m[ INFO] [1519377001.062880337]: Plugin log_list initializede[0m
e[0m[ INFO] [1519377001.063347448]: Plugin manual_control loadede[0m
e[0m[ INFO] [1519377001.067794573]: Plugin manual_control initializede[0m
e[0m[ INFO] [1519377001.068171489]: Plugin mocap_pose_estimate loadede[0m
e[0m[ INFO] [1519377001.117758236]: Plugin mocap_pose_estimate initializede[0m
e[0m[ INFO] [1519377001.118162902]: Plugin odom loadede[0m
e[0m[ INFO] [1519377001.161915050]: Plugin odom initializede[0m
e[0m[ INFO] [1519377001.162604354]: Plugin param loadede[0m
e[0m[ INFO] [1519377001.250115853]: Plugin param initializede[0m
e[0m[ INFO] [1519377001.250550957]: Plugin payload loadede[0m
e[0m[ INFO] [1519377001.250968105]: initializee[0m
e[0m[ INFO] [1519377001.333497961]: Plugin payload initializede[0m
e[0m[ INFO] [1519377001.333873627]: Plugin px4flow loadede[0m
e[0m[ INFO] [1519377001.375114214]: Plugin px4flow initializede[0m
e[0m[ INFO] [1519377001.375661631]: Plugin rc_io loadede[0m
e[0m[ INFO] [1519377001.409187747]: Plugin rc_io initializede[0m
e[0m[ INFO] [1519377001.409627684]: Plugin setpoint_position loadede[0m
e[0m[ INFO] [1519377001.497223682]: Plugin setpoint_position initializede[0m
e[0m[ INFO] [1519377001.497694153]: Plugin setpoint_raw loadede[0m
e[0m[ INFO] [1519377001.642729095]: Plugin setpoint_raw initializede[0m
e[0m[ INFO] [1519377001.643168392]: Plugin setpoint_velocity loadede[0m
e[0m[ INFO] [1519377001.695871219]: Plugin setpoint_velocity initializede[0m
e[0m[ INFO] [1519377001.696643037]: Plugin sys_status loadede[0m
e[0m[ INFO] [1519377001.859915698]: Plugin sys_status initializede[0m
e[0m[ INFO] [1519377001.860410912]: Plugin sys_time loadede[0m
e[0m[ INFO] [1519377001.906709478]: Plugin sys_time initializede[0m
e[0m[ INFO] [1519377001.907115775]: Plugin vfr_hud loadede[0m
e[0m[ INFO] [1519377001.934312464]: Plugin vfr_hud initializede[0m
e[0m[ INFO] [1519377001.934411749]: Plugin vibration blacklistede[0m
e[0m[ INFO] [1519377001.934748176]: Plugin vision_pose_estimate loadede[0m
e[0m[ INFO] [1519377002.065758626]: Plugin vision_pose_estimate initializede[0m
e[0m[ INFO] [1519377002.066155188]: Plugin vision_speed_estimate loadede[0m
e[0m[ INFO] [1519377002.091911940]: Plugin vision_speed_estimate initializede[0m
e[0m[ INFO] [1519377002.092427278]: Plugin waypoint loadede[0m
e[0m[ INFO] [1519377002.122362654]: Plugin waypoint initializede[0m
e[0m[ INFO] [1519377002.122529024]: Autostarting mavlink via USB on PX4e[0m
e[0m[ INFO] [1519377002.122850819]: Built-in SIMD instructions: ARM NEONe[0m
e[0m[ INFO] [1519377002.122922994]: Built-in MAVLink package version: 2016.11.11e[0m
e[0m[ INFO] [1519377002.123870102]: Known MAVLink dialects: common ardupilotmegae[0m
e[0m[ INFO] [1519377002.123941957]: MAVROS started. MY ID 255.241, TARGET ID 1.0e[0m

DEBUG in flask_views [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/flask_views.py:499]:
calling service /flytos/param/param_set with msg : {‘param_info’: {‘param_value’: ‘10016’, ‘param_id’: ‘SYS_AUTOSTART’}}

e[31m[ERROR] [1519377005.257943977]: [PARAM API] Cannot Set Parameter: SYS_AUTOSTART …parameter not founde[0m

DEBUG in flask_views [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/flask_views.py:499]:
calling service /flytos/setup/autopilot_reboot with msg : {‘reboot_mode’: 1}


ERROR in flask_views [/flyt/flytos/flytcore/lib/python2.7/dist-packages/rostful/flask_views.py:559]:
Service Timeout! => 504
Pyros Service call timed out.

e


#7

This[VIDIOC_S_FMT error 22] seems to be the issue.
Please run the following command in a terminal window and post its output:

v4l2-ctl --all

Look for Pixel Format information. Once it is known, open this file:

/flyt/flytos/flytcore/share/vision_apps/launch/cam_api.launch
and edit its “pixel_format” param accordingly.

This should resolve your video problems. But unfortunately, Pixhawk connectivity issue is still a mystery.

Please respond to my above queries so that I could help you better.