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

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#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?