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Using Bebop Autonomy with Bebop 2 Power drone in WSL windows 10

asked 2017-10-18 04:30:57 -0500

jfursdon gravatar image

updated 2017-10-20 11:06:29 -0500

Hi,

I have followed the steps for the installation and running of the driver on Kinetic Ubuntu through BASH on Windows 10.

The drone is connected to the WIFI and can be pinged using 192.168.42.1.

When I run the roslaunch bebop_driver bebop_node.launch

I get the following:

SUMMARY
========

PARAMETERS
 * /bebop/bebop_driver/bebop_ip: 192.168.42.1
 * /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: kinetic
 * /rosversion: 1.12.7

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

auto-starting new master
process[master]: started with pid [1541]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 6597259c-b3e5-11e7-a780-3417eba55f55
process[rosout-1]: started with pid [1554]
started core service [/rosout]
process[bebop/bebop_driver-2]: started with pid [1557]
process[bebop/robot_state_publisher-3]: started with pid [1572]
[ INFO] [1508318353.641131800]: Initializing nodelet with 8 worker threads.
[ INFO] [1508318354.019629800]: [BebopSDK] 10:19:14:019 | Bebop:225 - Bebop Cnstr()
[ INFO] [1508318354.026915700]: Nodelet Cstr
[ INFO] [1508318354.053343700]: Connecting to Bebop ...
[ INFO] [1508318354.061066900]: [CB] 10:19:14:061 | Ardrone3PilotingStateFlatTrimChanged:388 - [STATES] Enabling states/ardrone3/PilotingState/FlatTrimChanged
[ INFO] [1508318354.063845800]: [CB] 10:19:14:063 | Ardrone3PilotingStateFlyingStateChanged:432 - [STATES] Enabling states/ardrone3/PilotingState/FlyingStateChanged
[ INFO] [1508318354.067703300]: [CB] 10:19:14:067 | Ardrone3PilotingStateNavigateHomeStateChanged:534 - [STATES] Enabling states/ardrone3/PilotingState/NavigateHomeStateChanged
[ INFO] [1508318354.070739700]: [CB] 10:19:14:070 | Ardrone3PilotingStatePositionChanged:592 - [STATES] Enabling states/ardrone3/PilotingState/PositionChanged
[ INFO] [1508318354.073281000]: [CB] 10:19:14:073 | Ardrone3PilotingStateSpeedChanged:657 - [STATES] Enabling states/ardrone3/PilotingState/SpeedChanged
[ INFO] [1508318354.076121700]: [CB] 10:19:14:076 | Ardrone3PilotingStateAttitudeChanged:722 - [STATES] Enabling states/ardrone3/PilotingState/AttitudeChanged
[ INFO] [1508318354.079936300]: [CB] 10:19:14:079 | Ardrone3PilotingStateAltitudeChanged:838 - [STATES] Enabling states/ardrone3/PilotingState/AltitudeChanged
[ INFO] [1508318354.092637900]: [CB] 10:19:14:092 | Ardrone3MediaStreamingStateVideoEnableChanged:1388 - [STATES] Enabling states/ardrone3/MediaStreamingState/VideoEnableChanged
[ INFO] [1508318354.096673000]: [CB] 10:19:14:096 | Ardrone3CameraStateOrientation:1490 - [STATES] Enabling states/ardrone3/CameraState/Orientation
[ INFO] [1508318354.106931500]: [CB] 10:19:14:106 | Ardrone3GPSStateNumberOfSatelliteChanged:1882 - [STATES] Enabling states/ardrone3/GPSState/NumberOfSatelliteChanged
[ INFO] [1508318354.116109700]: [CB] 10:19:14:116 | CommonCommonStateBatteryStateChanged:148 - [STATES] Enabling states/common/CommonState/BatteryStateChanged
[ INFO] [1508318354.125102700]: [CB] 10:19:14:125 | CommonCommonStateWifiSignalChanged:510 - [STATES] Enabling states/common/CommonState/WifiSignalChanged
[ INFO] [1508318354.137140100]: [CB] 10:19:14:137 | CommonOverHeatStateOverHeatChanged:1023 - [STATES] Enabling states/common/OverHeatState/OverHeatChanged
[ INFO] [1508318354.144972900]: [CB] 10:19:14:144 | CommonMavlinkStateMavlinkFilePlayingStateChanged:1118 - [STATES] Enabling states/common ...
(more)
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Comments

May I suggest you include the information that you are trying this on Win10/WSL in either your question title or (at least) in the tags?

gvdhoorn gravatar imagegvdhoorn ( 2017-10-18 05:27:26 -0500 )edit

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answered 2017-10-18 05:26:30 -0500

gvdhoorn gravatar image

updated 2017-10-18 05:28:40 -0500

on Kinetic Ubuntu through BASH on Windows 10

I think this is what is causing you issues: ROS on WSL is not an officially supported setup, and while it can be made to work somewhat (see #q238646), the network stack of WSL is not mature enough (in my opinion and according to quite some reporters on the wsl issue tracker) to support the same kind of applications as a regular Ubuntu/other Linux install would be able to.

ARCONTROLLER_Network_GetAvailableSocketPort:125 - Failed to set socket option SO_REUSEADDR: error=22 (Invalid argument)

This is the kind of errors I've seen quite a lot with WSL, and they point to (remaining) issues with the network stack.

I cannot say conclusively that WSL is the real cause here, but I would test whether this works on a 'native' Ubuntu Xenial-ROS Kinetic install. If it does, then it would seem WSL's network stack is missing something the software you're trying to run needs.

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There were good examples for the take off, landing and emergency commands but no example of what the piloting commands should look like. I tried the same layouts but these did not work.

Any examples of piloting commands would be greatly appreciated.

jfursdon gravatar imagejfursdon ( 2017-10-20 11:05:41 -0500 )edit

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Asked: 2017-10-18 04:30:57 -0500

Seen: 204 times

Last updated: Oct 20 '17