No video feed when using flytvision


#1

Hi, I’m using odroid xu4 and flytos with logitech c270 webcam. I tested it with guvcview and it working fine. but when I check to flytvision http://192.168.1.104:9090/flytvision/ there is no video feed. what should I do?

thanks in advance.


#2

Before checking for video feed, first make sure that the you have a positive connection status.
Currently the web app suggests that it is in ‘Disconnected’ state.


#3

Can you help me about this error?
[ERROR] [1472799926.471091027]: SU: Cannot Get Parameter: USER_SLEEP_MODE …parameter not found
[ERROR] [1472799927.364237716]: SU: Cannot Save Parameters …try again
[ERROR] [1472799932.036513088]: Rectified topic ‘/flytpod/flytcam/image_rect_color’ requested but camera publishing ‘/flytpod/flytcam/camera_info’ is uncalibrated
[ERROR] [1472799938.963702765]: FCU: PreArm: RC not calibrated
[ERROR] [1472799942.401989065]: SU: Cannot Get Parameter: SYS_AUTOSTART …parameter not found
[ERROR] [1472799942.542108515]: SU: Cannot Get Parameter: BAT_N_CELLS …parameter not found
[ERROR] [1472799942.606175329]: SU: Cannot Get Parameter: PWM_MAX …parameter not found
[ERROR] [1472799942.651831160]: SU: Cannot Get Parameter: BAT_V_EMPTY …parameter not found
[ERROR] [1472799942.696750242]: SU: Cannot Get Parameter: PWM_MIN …parameter not found
[ERROR] [1472799942.747200069]: SU: Cannot Get Parameter: BAT_V_CHARGED …parameter not found
[ERROR] [1472799942.794209274]: SU: Cannot Get Parameter: SENS_BOARD_ROT …parameter not found
[ERROR] [1472799942.856920256]: SU: Cannot Get Parameter: SENS_EXT_MAG_ROT …parameter not found
[ERROR] [1472799962.093976929]: Rectified topic ‘/flytpod/flytcam/image_rect_color’ requested but camera publishing ‘/flytpod/flytcam/camera_info’ is uncalibrated
[ INFO] [1472799968.983113434]: Handling Request: /list_streams
[ INFO] [1472799969.011553698]: Handling Request: /stream?topic=/flytpod/flytcam/image_capture&width=320&height=240&rate=2&type=ros_compressed
[ERROR] [1472799969.063344982]: SU: Cannot Get Parameter: ob_track_ct …parameter not found
[ERROR] [1472799969.129452711]: SU: Cannot Get Parameter: ob_track_ir …parameter not found
[ERROR] [1472799969.176276958]: SU: Cannot Get Parameter: ob_track_at …parameter not found
[ERROR] [1472799969.229106199]: SU: Cannot Get Parameter: ob_track_mr …parameter not found
[ERROR] [1472799969.286224686]: SU: Cannot Get Parameter: ob_track_follow …parameter not found
[ERROR] [1472799969.352717289]: SU: Cannot Get Parameter: ob_track_kp …parameter not found
[ERROR] [1472799969.406289238]: SU: Cannot Get Parameter: ob_track_kd …parameter not found
[ERROR] [1472799969.570814748]: SU: Cannot Get Parameter: ob_track_vel_xy_min …parameter not found
[ERROR] [1472799969.651425212]: SU: Cannot Get Parameter: ob_track_vel_xy_max …parameter not found
[ERROR] [1472799969.748920161]: SU: Cannot Get Parameter: ob_track_mode …parameter not found
[ERROR] [1472799969.808220479]: SU: Cannot Get Parameter: ob_track_tolerance_inner …parameter not found
[ERROR] [1472799969.868420588]: SU: Cannot Get Parameter: ob_track_tolerance_outer …parameter not found
[ERROR] [1472799969.918894749]: SU: Cannot Get Parameter: ob_track_srange …parameter not found
[ERROR] [1472799970.003589876]: SU: Cannot Get Parameter: ob_track_vrange …parameter not found
[ERROR] [1472799970.092169250]: SU: Cannot Get Parameter: ob_track_compensate …parameter not found
[ERROR] [1472799970.141064870]: SU: Cannot Get Parameter: ob_track_tld_learning_disabled …parameter not found
[ERROR] [1472799970.208268889]: SU: Cannot Get Parameter: ob_track_tld_detector_disabled …parameter not found
[ERROR] [1472799970.255836927]: SU: Cannot Get Parameter: ob_track_hrange …parameter not found
[ERROR] [1472799970.339720347]: SU: Cannot Get Parameter: ob_track_tld_new_object …parameter not found
[ERROR] [WallTime: 1472799970.408587] [Client 3] [id: subscribe:/flytpod/iris/vehicle_local_position_setpoint:3] subscribe: Unable to load the manifest for package px4. Caused by: px4


#4

Hi,

Do the following steps:
sudo $(rospack find core_api)/scripts/kill_flytOS.sh

once done,
sudo $(rospack find core_api)/scripts/start_flytOS.sh

After you run this command, you would get a series of messages being thrown on your screen, please send the entire log that you see, and do not leave anything behind.
Also, don’t try to open any FlytApps, it would only unnecessarily clutter your log.


#5

I cant post here because it’s get too much.
so here is the link

https://drive.google.com/file/d/0BzvH-UbboATSeEE5U1VjMl81d1U/view?usp=sharing

thanks in advance.


#6

Well are you using Pixhawk? Which code base are you running on top of Pixhawk? Is it PX4 or APM?
I would suggest if it isn’t an issue, use PX4 codebase please.


#7

Yes I used mission planner to flash the apm firmware.
How can I use the px4 codebase?


#8

Oh ok thanks I will try first. Thanks


#9

Hi, I already get it working. Thanks

But then I get this error that caused no video feed for tracking, but I get video feed for raw.

[ERROR] [1472831999.459346252]: Rectified topic ‘/flytpod/flytcam/image_rect_color’ requested but camera publishing ‘/flytpod/flytcam/camera_info’ is uncalibrated

this when I open /flytvision/ :

[ INFO] [1472832102.647400846]: Handling Request: /list_streams
[ INFO] [1472832102.687835391]: Handling Request: /stream?topic=/flytpod/flytcam/image_capture&width=320&height=240&rate=2&type=ros_compressed
[ERROR] [1472832102.714616240]: SU: Cannot Get Parameter: ob_track_ct …parameter not found
[ERROR] [1472832102.774698891]: SU: Cannot Get Parameter: ob_track_at …parameter not found
[ERROR] [1472832102.993548349]: SU: Cannot Get Parameter: ob_track_ir …parameter not found
[ERROR] [1472832103.166208809]: SU: Cannot Get Parameter: ob_track_mr …parameter not found
[ERROR] [1472832103.433171054]: SU: Cannot Get Parameter: ob_track_follow …parameter not found
[ERROR] [1472832103.514962268]: SU: Cannot Get Parameter: ob_track_kp …parameter not found
[ERROR] [1472832103.562296931]: SU: Cannot Get Parameter: ob_track_kd …parameter not found
[ERROR] [1472832103.609870719]: SU: Cannot Get Parameter: ob_track_vel_xy_min …parameter not found
[ERROR] [1472832103.658962922]: SU: Cannot Get Parameter: ob_track_vel_xy_max …parameter not found
[ERROR] [1472832103.709505540]: SU: Cannot Get Parameter: ob_track_mode …parameter not found
[ERROR] [1472832103.798583247]: SU: Cannot Get Parameter: ob_track_tolerance_inner …parameter not found
[ERROR] [1472832103.854479818]: SU: Cannot Get Parameter: ob_track_tolerance_outer …parameter not found
[ERROR] [1472832103.902839980]: SU: Cannot Get Parameter: ob_track_srange …parameter not found
[ERROR] [1472832103.956760346]: SU: Cannot Get Parameter: ob_track_vrange …parameter not found
[ERROR] [1472832104.009179879]: SU: Cannot Get Parameter: ob_track_compensate …parameter not found
[ERROR] [1472832104.059609539]: SU: Cannot Get Parameter: ob_track_tld_learning_disabled …parameter not found
[ERROR] [1472832104.105127204]: SU: Cannot Get Parameter: ob_track_tld_detector_disabled …parameter not found
[ERROR] [1472832104.165876688]: SU: Cannot Get Parameter: ob_track_hrange …parameter not found
[ERROR] [1472832104.345040975]: SU: Cannot Get Parameter: ob_track_tld_new_object …parameter not found
[ERROR] [WallTime: 1472832105.107375] [Client 0] [id: subscribe:/flytpod/iris/vehicle_local_position_setpoint:3] subscribe: Unable to load the manifest for package px4. Caused by: px4


#10

Could you again send me the entire log file…the way you sent before.
Also I assume, you can see Connected status as valid.
Also,send me the content of this file:
/flyt/flytos/flytcore/share/core_api/launch/core_api_autopilot.launch


#11

right, the Connected status are valid.

here is the link with the log and the core_api_autopilot.launch :
https://drive.google.com/file/d/0BzvH-UbboATSSjN0MlBGVmNvSnM/view?usp=sharing

this error came if I access the flytvision/
[ERROR] [1472889463.535434027]: SU: Cannot Get Parameter: ob_track_ct …parameter not found
[ERROR] [1472889463.713026107]: SU: Cannot Get Parameter: ob_track_mr …parameter not found
[ERROR] [1472889463.773312675]: SU: Cannot Get Parameter: ob_track_at …parameter not found
[ERROR] [1472889463.817664382]: SU: Cannot Get Parameter: ob_track_ir …parameter not found
[ERROR] [1472889463.869744583]: SU: Cannot Get Parameter: ob_track_follow …parameter not found
[ERROR] [1472889463.928916026]: SU: Cannot Get Parameter: ob_track_kd …parameter not found
[ERROR] [1472889463.975070399]: SU: Cannot Get Parameter: ob_track_kp …parameter not found
[ERROR] [1472889464.033619551]: SU: Cannot Get Parameter: ob_track_tolerance_outer …parameter not found
[ERROR] [1472889464.078988299]: SU: Cannot Get Parameter: ob_track_hrange …parameter not found
[ERROR] [1472889464.133783622]: SU: Cannot Get Parameter: ob_track_vel_xy_min …parameter not found
[ERROR] [1472889464.202825140]: SU: Cannot Get Parameter: ob_track_vel_xy_max …parameter not found
[ERROR] [1472889464.273592030]: SU: Cannot Get Parameter: ob_track_mode …parameter not found
[ERROR] [1472889464.321536568]: SU: Cannot Get Parameter: ob_track_tolerance_inner …parameter not found
[ERROR] [1472889464.410175483]: SU: Cannot Get Parameter: ob_track_srange …parameter not found
[ERROR] [1472889464.468267386]: SU: Cannot Get Parameter: ob_track_vrange …parameter not found
[ERROR] [1472889464.514115676]: SU: Cannot Get Parameter: ob_track_compensate …parameter not found
[ERROR] [1472889464.690248091]: SU: Cannot Get Parameter: ob_track_tld_learning_disabled …parameter not found
[ERROR] [1472889464.781479087]: SU: Cannot Get Parameter: ob_track_tld_detector_disabled …parameter not found
[ERROR] [1472889464.840298072]: SU: Cannot Get Parameter: ob_track_tld_new_object …parameter not found
[ERROR] [WallTime: 1472889465.558812] [Client 0] [id: subscribe:/flytpod/iris/vehicle_local_position_setpoint:3] subscribe: Unable to load the manifest for package px4. Caused by: px4

and this error came when I access the flytconsole/
[ERROR] [1472889559.669588190]: SU: Cannot Get Parameter: SYS_AUTOSTART …parameter not found
[ERROR] [1472889559.738941748]: SU: Cannot Get Parameter: BAT_N_CELLS …parameter not found
[ERROR] [1472889559.785144829]: SU: Cannot Get Parameter: BAT_V_EMPTY …parameter not found
[ERROR] [1472889559.837412779]: SU: Cannot Get Parameter: PWM_MAX …parameter not found
[ERROR] [1472889559.885932650]: SU: Cannot Get Parameter: BAT_V_CHARGED …parameter not found
[ERROR] [1472889559.935120436]: SU: Cannot Get Parameter: PWM_MIN …parameter not found
[ERROR] [1472889559.980418393]: SU: Cannot Get Parameter: SENS_BOARD_ROT …parameter not found
[ERROR] [1472889560.029849512]: SU: Cannot Get Parameter: SENS_EXT_MAG_ROT …parameter not found


#12

First of all,
the connection between your pixhawk and odroid is not working properly. Check whether the paramter values are correct or not for:
MAV_SYS_ID = 1
MAV_COMP_ID = 50
Also, the baud rate that you have set, is it supposed to be 57600? If that is the case please check that the parameter:
SYS_COMPANION = 57600

Coming back to video feed, the error that you see, [quote=“rasyid7, post:11, topic:109”]
this error came if I access the flytvision/[ERROR] [1472889463.535434027]: SU: Cannot Get Parameter: ob_track_ct …parameter not found[ERROR] [1472889463.713026107]: SU: Cannot Get Parameter: ob_track_mr …parameter not found[ERROR] [1472889463.773312675]: SU: Cannot Get Parameter: ob
[/quote]

ignore these errors for now, as they expect object tracking to be running as well, which is not.
To check whether video streaming is working or not. Go to:
192.168.1.104:8080
and select one from the dropdown. Revert back with the topic that gives you the video stream.


#13

Thanks for your answers…

My connection between pixhawk and odroid are using ftdi, I’m not using Shifter Shield.
I’ve changed the baudrate to 921600 on SYS_COMPANION and on core_api_autopilot.launch
and I’ve checked the
MAV_SYS_ID = 1 MAV_COMP_ID = 50

Sometimes it good and sometimes it has no heartbeat when I start_flytOS.sh

Should I care with this warn? :
TM: Clock skew detected (-1472964495.765327692 s). Hard syncing clocks.

Topic that gives me video stream only on
image_raw image_color image_mono

Thanks in advance.


#14

Yep, unfortunately even we have faced this issue of poor connectivity with Pixhawk if connected via ftdi. Could you try playing with the Baudrate(SYS_COMPANION). Dont forget to edit that same baudrate on this file: /flyt/flytos/flytcore/share/core_api/launch/core_api_autopilot.launch

Ok, so if you need to call a video streaming API, or just see your video stream, please use this approach or use image_raw topic in your API. In the meantime, I would take a look at the issue.


#15

Well, I should look for the Shifter Shield then. Thanks

So at this time I can’t use the object tracking?


#16

Thankyou for pointing out the bug, as a workaround try this,
go to
/flyt/flytos/flytcore/share/vision_apps/launch/cam_api.launch

In that file, replace its entire content by following:

<launch>
  <arg name="camera_name" default="flytcam"/>
  <node pkg="usb_cam" name="$(arg camera_name)" type="usb_cam_node" output="screen">
    <param name="video_device" value="/dev/video0"/>
    <param name="image_width" value="320"/>
    <param name="image_height" value="240"/>
    <param name="framerate" value="30"/>
    <param name="pixel_format" value="yuyv"/>
    <param name="bightness" value="20" />
    <param name="camera_info_url" value="file://$(find vision_apps)/calibration/ost.yaml"/>
  </node>

  <node pkg="vision_apps" name="image_capture" type="image_capture">
<remap from="flytcam/image_rect_color" to="flytcam/image_raw"/>
</node>
  <node pkg="web_video_server" name="web_video_server" type="web_video_server" output="screen"/>
  <group ns="$(arg camera_name)">
    <node pkg="image_proc" name="image_proc" type="image_proc"/>  
  </group>
</launch>

#17

Also, object tracking node does not start, with FlytOS. To start it separately call this command:

roslaunch vision_apps object_tracking.launch global_namespace:=flytpod


#18

Thanks srv!
It’s now working properly. I just need to figure out how to get stabile communication between my pixhawk and odroid. I need about 5 minutes to get it working.

I want my copter to perform a mission with a waypoint, and when a camera detect something it stop and get to there. I think I can use an onboard app for that. Do you have any suggestion?


#19

Yep, you could do almost all the onboard image processing on odroid xu4. Write your own ROS code, which would run on top of FlytOS, and use the position_set API, whenever you detect your object of interest.


#20

I’m trying to detect with TLD. I already clone the git to the odroid, trying to compile but no luck.

I’ve installed sudo apt-get install ros-indigo-pcl-ros to get the PCL.
But when I sudo make install, this came :
flytpod@flytpod:~/Downloads/flyt_open_tld_3d/src/build$ sudo make install [ 15%] Built target 3Dconfig++ [ 30%] Built target 3Dcvblobs [ 70%] Built target 3Dlibopentld [ 72%] Built target 3dlib [ 85%] Built target 3Dmain [ 87%] Built target OpenTLD3D Traceback (most recent call last): File "/opt/ros/indigo/share/genmsg/cmake/../../../lib/genmsg/genmsg_check_deps.py", line 41, in <module> from genmsg import EXT_MSG, EXT_SRV, MsgContext ImportError: No module named genmsg make[2]: *** [CMakeFiles/_open_tld_3d_generate_messages_check_deps_model] Error 1 make[1]: *** [CMakeFiles/_open_tld_3d_generate_messages_check_deps_model.dir/all] Error 2 make: *** [all] Error 2

What do you think?
Or I do something wrong :frowning: