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AutonomyLab / bebop_autonomy

ROS driver for Parrot Bebop Drones 1.0 & 2.0
http://wiki.ros.org/bebop_autonomy
BSD 3-Clause "New" or "Revised" License
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No video stream when running bebop_nodelet_iv #117

Closed DingdianZhang closed 7 years ago

DingdianZhang commented 7 years ago

tried on two software versions of Bebop1 2.0.29 and 4.0.6 Ubuntu 16.04 ROS Kinetic 1.12.7 When I run roslaunch bebop_tools bebop_nodelet_iv.launch it shows

SUMMARY

PARAMETERS

NODES /bebop/ bebop_image_view_nodelet (nodelet/nodelet) bebop_nodelet (nodelet/nodelet) bebop_nodelet_manager (nodelet/nodelet) robot_state_publisher (robot_state_publisher/robot_state_publisher)

auto-starting new master process[master]: started with pid [28671] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 0c425e36-5516-11e7-bb49-00270e0a73dc process[rosout-1]: started with pid [28684] started core service [/rosout] process[bebop/bebop_nodelet_manager-2]: started with pid [28701] process[bebop/bebop_nodelet-3]: started with pid [28702] process[bebop/robot_state_publisher-4]: started with pid [28703] process[bebop/bebop_image_view_nodelet-5]: started with pid [28710] [ INFO] [1497893885.401550782]: Initializing nodelet with 4 worker threads. [ INFO] [1497893885.460768911]: Using transport "raw" init done

(nodelet:28701): GLib-GObject-WARNING **: invalid uninstantiatable type '(null)' in cast to 'GtkWidget'

(nodelet:28701): GLib-GObject-WARNING **: instance of invalid non-instantiatable type '(null)'

(nodelet:28701): GLib-GObject-CRITICAL **: g_signal_connect_data: assertion 'G_TYPE_CHECK_INSTANCE (instance)' failed [ INFO] [1497893885.727227095]: [BebopSDK] 18:38:05:727 | Bebop:225 - Bebop Cnstr() [ INFO] [1497893885.727303841]: Nodelet Cstr [ INFO] [1497893885.741263686]: Connecting to Bebop ... [ INFO] [1497893885.747519343]: [CB] 18:38:05:747 | Ardrone3PilotingStateFlatTrimChanged:386 - [STATES] Enabling states/ardrone3/PilotingState/FlatTrimChanged [ INFO] [1497893885.749371731]: [CB] 18:38:05:749 | Ardrone3PilotingStateFlyingStateChanged:430 - [STATES] Enabling states/ardrone3/PilotingState/FlyingStateChanged [ INFO] [1497893885.751449033]: [CB] 18:38:05:751 | Ardrone3PilotingStateNavigateHomeStateChanged:532 - [STATES] Enabling states/ardrone3/PilotingState/NavigateHomeStateChanged [ INFO] [1497893885.752922021]: [CB] 18:38:05:752 | Ardrone3PilotingStatePositionChanged:590 - [STATES] Enabling states/ardrone3/PilotingState/PositionChanged [ INFO] [1497893885.754449400]: [CB] 18:38:05:754 | Ardrone3PilotingStateSpeedChanged:655 - [STATES] Enabling states/ardrone3/PilotingState/SpeedChanged [ INFO] [1497893885.755703949]: [CB] 18:38:05:755 | Ardrone3PilotingStateAttitudeChanged:720 - [STATES] Enabling states/ardrone3/PilotingState/AttitudeChanged [ INFO] [1497893885.757551555]: [CB] 18:38:05:757 | Ardrone3PilotingStateAltitudeChanged:836 - [STATES] Enabling states/ardrone3/PilotingState/AltitudeChanged [ INFO] [1497893885.762953971]: [CB] 18:38:05:762 | Ardrone3MediaStreamingStateVideoEnableChanged:1300 - [STATES] Enabling states/ardrone3/MediaStreamingState/VideoEnableChanged [ INFO] [1497893885.764657892]: [CB] 18:38:05:764 | Ardrone3CameraStateOrientation:1402 - [STATES] Enabling states/ardrone3/CameraState/Orientation [ INFO] [1497893885.769742644]: [CB] 18:38:05:769 | Ardrone3GPSStateNumberOfSatelliteChanged:1794 - [STATES] Enabling states/ardrone3/GPSState/NumberOfSatelliteChanged [ INFO] [1497893885.773628634]: [CB] 18:38:05:773 | CommonCommonStateBatteryStateChanged:148 - [STATES] Enabling states/common/CommonState/BatteryStateChanged [ INFO] [1497893885.779113451]: [CB] 18:38:05:779 | CommonCommonStateWifiSignalChanged:510 - [STATES] Enabling states/common/CommonState/WifiSignalChanged [ INFO] [1497893885.784548446]: [CB] 18:38:05:784 | CommonOverHeatStateOverHeatChanged:1023 - [STATES] Enabling states/common/OverHeatState/OverHeatChanged [ INFO] [1497893885.787059094]: [CB] 18:38:05:787 | CommonMavlinkStateMavlinkFilePlayingStateChanged:1118 - [STATES] Enabling states/common/MavlinkState/MavlinkFilePlayingStateChanged [ INFO] [1497893885.788884360]: [CB] 18:38:05:788 | CommonMavlinkStateMavlinkPlayErrorStateChanged:1183 - [STATES] Enabling states/common/MavlinkState/MavlinkPlayErrorStateChanged [ INFO] [1497893885.793996244]: [CB] 18:38:05:793 | CommonFlightPlanStateAvailabilityStateChanged:1568 - [STATES] Enabling states/common/FlightPlanState/AvailabilityStateChanged [ INFO] [1497893885.795477655]: [CB] 18:38:05:795 | CommonFlightPlanStateComponentStateListChanged:1619 - [STATES] Enabling states/common/FlightPlanState/ComponentStateListChanged [ INFO] [1497893885.805510191]: [ARCONTROLLER_Network] 18:38:05:805 | ARCONTROLLER_Network_GetAvailableSocketPort:110 - d2c_port port: 41399 [ INFO] [1497893885.805781090]: [ARCONTROLLER_Stream2] 18:38:05:805 | ARCONTROLLER_Stream2_Open_Socket:124 - udp local port stream: 57033 [ INFO] [1497893885.805831785]: [ARCONTROLLER_Stream2] 18:38:05:805 | ARCONTROLLER_Stream2_Open_Socket:124 - udp local port control: 32872 [ INFO] [1497893886.082974282]: [BebopSDK] 18:38:06:082 | CommandReceivedCallback:113 - Command Received Callback LWP id is: 28932 [ INFO] [1497893886.728749222]: [BebopSDK] 18:38:06:728 | Connect:321 - BebopSDK inited, lwp_id: 28701 [ WARN] [1497893886.728924088]: Resetting all settings ... [ INFO] [1497893886.729064794]: [BebopSDK] 18:38:06:729 | ResetAllSettings:417 - All settings of the drone have been reset to default values. [ INFO] [1497893887.194580349]: [ARSTREAM_Reader] 18:38:07:194 | ARSTREAM_Reader_RunDataThread:538 - Missed -65535 frames ! [ INFO] [1497893887.219461194]: Value for PilotingSettingsMaxAltitudeCurrent recved: 30 [ INFO] [1497893887.219526196]: [CB] 18:38:07:219 | Update:111 - Checking if PilotingSettingsMaxAltitudeCurrent exists in params ... [ INFO] [1497893887.221447785]: [CB] 18:38:07:221 | Update:114 - No [ INFO] [1497893887.235566873]: Value for PilotingSettingsMaxTiltCurrent recved: 20 [ INFO] [1497893887.235628155]: [CB] 18:38:07:235 | Update:191 - Checking if PilotingSettingsMaxTiltCurrent exists in params ... [ INFO] [1497893887.237279331]: [CB] 18:38:07:237 | Update:194 - No [ INFO] [1497893887.256440425]: Value for PilotingSettingsAbsolutControlOn recved: 0 [ INFO] [1497893887.256552520]: [CB] 18:38:07:256 | Update:271 - Checking if PilotingSettingsAbsolutControlOn exists in params ... [ INFO] [1497893887.258402456]: [CB] 18:38:07:258 | Update:274 - No [ INFO] [1497893887.277430536]: Value for SpeedSettingsMaxVerticalSpeedCurrent recved: 1 [ INFO] [1497893887.277501816]: [CB] 18:38:07:277 | Update:991 - Checking if SpeedSettingsMaxVerticalSpeedCurrent exists in params ... [ INFO] [1497893887.279149008]: [CB] 18:38:07:279 | Update:994 - No [ INFO] [1497893887.299434924]: Value for SpeedSettingsMaxRotationSpeedCurrent recved: 100 [ INFO] [1497893887.299540385]: [CB] 18:38:07:299 | Update:1071 - Checking if SpeedSettingsMaxRotationSpeedCurrent exists in params ... [ INFO] [1497893887.301404949]: [CB] 18:38:07:301 | Update:1074 - No [ INFO] [1497893887.319691275]: Value for SpeedSettingsHullProtectionPresent recved: 0 [ INFO] [1497893887.319790672]: [CB] 18:38:07:319 | Update:1151 - Checking if SpeedSettingsHullProtectionPresent exists in params ... [ INFO] [1497893887.321271017]: [CB] 18:38:07:321 | Update:1154 - No [ INFO] [1497893889.729310763]: Fetching all settings from the Drone ... [ INFO] [1497893889.861429529]: Value for PilotingSettingsMaxAltitudeCurrent recved: 30 [ INFO] [1497893889.861690332]: [CB] 18:38:09:861 | Update:111 - Checking if PilotingSettingsMaxAltitudeCurrent exists in params ... [ INFO] [1497893889.863557963]: [CB] 18:38:09:863 | Update:119 - Yes [ INFO] [1497893889.882557303]: Value for PilotingSettingsMaxTiltCurrent recved: 20 [ INFO] [1497893889.882668433]: [CB] 18:38:09:882 | Update:191 - Checking if PilotingSettingsMaxTiltCurrent exists in params ... [ INFO] [1497893889.884355316]: [CB] 18:38:09:884 | Update:199 - Yes [ INFO] [1497893889.904104446]: Value for PilotingSettingsAbsolutControlOn recved: 0 [ INFO] [1497893889.904181670]: [CB] 18:38:09:904 | Update:271 - Checking if PilotingSettingsAbsolutControlOn exists in params ... [ INFO] [1497893889.905632187]: [CB] 18:38:09:905 | Update:279 - Yes [ INFO] [1497893889.925395605]: Value for SpeedSettingsMaxVerticalSpeedCurrent recved: 1 [ INFO] [1497893889.925500942]: [CB] 18:38:09:925 | Update:991 - Checking if SpeedSettingsMaxVerticalSpeedCurrent exists in params ... [ INFO] [1497893889.927274674]: [CB] 18:38:09:927 | Update:999 - Yes [ INFO] [1497893889.946778866]: Value for SpeedSettingsMaxRotationSpeedCurrent recved: 100 [ INFO] [1497893889.946871058]: [CB] 18:38:09:946 | Update:1071 - Checking if SpeedSettingsMaxRotationSpeedCurrent exists in params ... [ INFO] [1497893889.948463759]: [CB] 18:38:09:948 | Update:1079 - Yes [ INFO] [1497893889.969002148]: Value for SpeedSettingsHullProtectionPresent recved: 0 [ INFO] [1497893889.969093160]: [CB] 18:38:09:969 | Update:1151 - Checking if SpeedSettingsHullProtectionPresent exists in params ... [ INFO] [1497893889.970762310]: [CB] 18:38:09:970 | Update:1159 - Yes [ INFO] [1497893889.989717103]: Value for SpeedSettingsOutdoorOutdoor recved: 1 [ INFO] [1497893889.989807827]: [CB] 18:38:09:989 | Update:1231 - Checking if SpeedSettingsOutdoorOutdoor exists in params ... [ INFO] [1497893889.991631357]: [CB] 18:38:09:991 | Update:1234 - No [ INFO] [1497893890.032432246]: Value for NetworkSettingsWifiSelectionType recved: 1 [ INFO] [1497893890.032559126]: [CB] 18:38:10:032 | Update:1417 - Checking if NetworkSettingsWifiSelectionType exists in params ... [ INFO] [1497893890.034225186]: [CB] 18:38:10:034 | Update:1420 - No [ INFO] [1497893890.036093333]: Value for NetworkSettingsWifiSelectionBand recved: 0 [ INFO] [1497893890.036162474]: [CB] 18:38:10:036 | Update:1438 - Checking if NetworkSettingsWifiSelectionBand exists in params ... [ INFO] [1497893890.037522369]: [CB] 18:38:10:037 | Update:1441 - No [ INFO] [1497893890.038789761]: Value for NetworkSettingsWifiSelectionChannel recved: 2 [ INFO] [1497893890.038826366]: [CB] 18:38:10:038 | Update:1459 - Checking if NetworkSettingsWifiSelectionChannel exists in params ... [ INFO] [1497893890.039757297]: [CB] 18:38:10:039 | Update:1462 - No [ INFO] [1497893893.023810830]: Dynamic reconfigure callback with level: -1 [ INFO] [1497893893.045199535]: Enabling video stream ... [ WARN] [1497893893.045326421]: [BebopSDK] 18:38:13:045 | StartStreaming:359 - Video streaming started ... [ INFO] [1497893893.045512455]: Nodelet lwp_id: 28701 [ INFO] [1497893893.045641735]: [AuxThread] thread lwp_id: 29183 [ INFO] [1497893893.045781813]: [CameraThread] thread lwp_id: 29182 [ INFO] [1497893894.001591273]: [ARSTREAM_Reader] 18:38:14:001 | ARSTREAM_Reader_RunDataThread:538 - Missed -65535 frames ! [ INFO] [1497893894.001865831]: [BebopSDK] 18:38:14:001 | DecoderConfigCallback:147 - H264 configuration packet received: #SPS: 27 #PPS: 8 (MP4? 0) [ INFO] [1497893894.002002287]: [BebopSDK] 18:38:14:001 | FrameReceivedCallback:174 - Frame Recv & Decode LWP id: 29192 [ INFO] [1497893894.046404131]: [Decoder] 18:38:14:046 | InitCodec:117 - H264 Codec is partially initialized! [ INFO] [1497893894.046469252]: [Decoder] 18:38:14:046 | Decode:263 - Updating H264 codec parameters (Buffer Size: 35) ... [ERROR] [1497893894.048743322]: [Decoder] 18:38:14:048 | Decode:302 - Frame size changed to 640 x 368 [ INFO] [1497893894.048789961]: [Decoder] 18:38:14:048 | ReallocateBuffers:123 - Buffer reallocation request [ WARN] [1497893894.049657421]: [BebopSDK] 18:38:14:049 | FrameReceivedCallback:191 - Previous frame might have been missed. [ INFO] [1497893894.052053187]: camera calibration URL: package://bebop_driver/data/bebop1_camera_calib.yaml [ WARN] [1497893922.068382032]: [BebopSDK] 18:38:42:068 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893922.611161718]: [BebopSDK] 18:38:42:611 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893922.882378332]: [BebopSDK] 18:38:42:882 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893923.156929273]: [BebopSDK] 18:38:43:156 | FrameReceivedCallback:191 - Previous frame might have been missed. [ INFO] [1497893923.298410984]: [ARSTREAM_Reader] 18:38:43:298 | ARSTREAM_Reader_RunDataThread:538 - Missed 1 frames ! [ INFO] [1497893923.419359568]: [ARSTREAM_Reader] 18:38:43:419 | ARSTREAM_Reader_RunDataThread:538 - Missed 1 frames ! [ WARN] [1497893923.709226909]: [BebopSDK] 18:38:43:709 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893923.712641504]: [BebopSDK] 18:38:43:712 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893923.980139307]: [BebopSDK] 18:38:43:980 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893923.983467047]: [BebopSDK] 18:38:43:983 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893924.252216971]: [BebopSDK] 18:38:44:252 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893924.523443738]: [BebopSDK] 18:38:44:523 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893924.795732628]: [BebopSDK] 18:38:44:795 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893925.074378419]: [BebopSDK] 18:38:45:074 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893925.341275785]: [BebopSDK] 18:38:45:341 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893985.063449340]: [BebopSDK] 18:39:45:063 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893985.336799046]: [BebopSDK] 18:39:45:336 | FrameReceivedCallback:191 - Previous frame might have been missed. [ WARN] [1497893985.611102064]: [BebopSDK] 18:39:45:611 | FrameReceivedCallback:191 - Previous frame might have been missed.

The main problem is there is no video stream received. The error is [ERROR] [1497893894.048743322]: [Decoder] 18:38:14:048 | Decode:302 - Frame size changed to 640 x 368. I can send messages to the Bebop by rostopic pub, such as takeoff and land.

Please help!!! Many thanks.

thomas-bamford commented 7 years ago

Hello, Please try the following, in one terminal roslaunch bebop_driver bebop_nodelet.launch and then in a new terminal rosrun image_view image_view image:=/bebop/image_raw This uses a different method of subscribing to the image topic broadcasted by the bebop. If this does not solve this and the launch you tried above continues to fail, please post more information on the vehicle hardware, vehicle firmware, and system architecture. Thanks, Thomas

DingdianZhang commented 7 years ago

@thomas-bamford It works thank you so much!!!!