docker run error - Githubissues

mengchaoheng commented 1 year ago

parallels@ubuntu-linux-20-04-desktop:~$ docker run --rm -it jonasvautherin/px4-gazebo-headless:1.13.1
[  0%] Built target ver_gen
[  0%] Generating ../../logs
[  0%] Built target git_gazebo
[  0%] Built target parameters_xml
[  0%] Built target logs_symlink
[  0%] Built target events_header
[  0%] Built target flighttasks_generated
[  0%] Built target uorb_headers
[  0%] Built target actuators_json
[  0%] Built target drivers_board
[  0%] Built target mixer_gen_6dof
[  0%] Built target mixer_gen
[  0%] Built target output_functions_header
[  0%] Built target version
[  0%] Built target wind_estimator
[  0%] Built target world_magnetic_model
[  0%] Built target git_gps_devices
[  0%] Built target git_mavlink_v2
[  0%] Performing build step for 'sitl_gazebo'
make[5]: warning: -jN forced in submake: disabling jobserver mode.
[  0%] Built target events_json
[  0%] Built target tinybson
[  0%] Built target perf
[  2%] Built target work_queue
[  2%] Built target geo
[  2%] Built target MixerBase
[  8%] Built target std_msgs
[ 19%] Built target sensor_msgs
[  2%] Built target mavlink_c_generate
[  2%] Built target component_general_json
[ 22%] Built target uorb_msgs
[ 23%] Built target mav_msgs
[ 27%] Built target physics_msgs
[ 22%] Built target HelicopterMixer
[ 23%] Built target MultirotorMixer
[ 29%] Built target klt_feature_tracker
[ 24%] Built target parameters
[ 31%] Built target nav_msgs
[ 24%] Built target NullMixer
[ 24%] Built target SimpleMixer
[ 46%] Built target models_gen
[ 25%] Built target romfs_gen_files_target
[ 25%] Built target px4_work_queue
[ 26%] Built target mixer
[ 48%] Built target gazebo_uuv_plugin
[ 50%] Built target gazebo_lidar_plugin
[ 27%] Built target px4_platform
[ 27%] Built target lockstep_scheduler
[ 53%] Built target gazebo_user_camera_plugin
[ 55%] Built target gazebo_groundtruth_plugin
[ 28%] Built target px4_daemon
[ 29%] Built target px4_layer
[ 57%] Built target gazebo_sonar_plugin
[ 59%] Built target gazebo_camera_manager_plugin
[ 30%] Built target bezier
[ 30%] Built target hysteresis
[ 30%] Built target airspeed
[ 62%] Built target OpticalFlow
[ 30%] Built target systemlib
[ 31%] Built target cdev
[ 31%] Built target battery
[ 63%] Built target gazebo_opticalflow_mockup_plugin
[ 31%] Built target circuit_breaker
[ 31%] Built target CollisionPrevention
[ 32%] Built target controllib
[ 65%] Built target gazebo_airspeed_plugin
[ 67%] Built target gazebo_airship_dynamics_plugin
[ 32%] Built target conversion
[ 32%] Built target l1
[ 32%] Built target landing_slope
[ 34%] Built target mathlib
[ 69%] Built target gazebo_controller_interface
[ 34%] Built target mixer_module
[ 35%] Built target motion_planning
[ 71%] Built target gazebo_vision_plugin
[ 35%] Built target npfg
[ 35%] Built target pid
[ 36%] Built target rc
[ 36%] Built target SlewRate
[ 36%] Built target SystemIdentification
[ 73%] Built target gazebo_gimbal_controller_plugin
[ 37%] Built target sensor_calibration
[ 75%] Built target gazebo_imu_plugin
[ 38%] Built target tecs
[ 38%] Built target tunes
[ 39%] Built target WeatherVane
[ 76%] Built target gazebo_wind_plugin
[ 39%] Built target arch_tone_alarm
[ 39%] Built target ArmAuthorization
[ 39%] Built target failure_detector
[ 79%] Built target gazebo_mavlink_interface
[ 40%] Built target HealthFlags
[ 40%] Built target ControlAllocation
[ 41%] Built target ActuatorEffectiveness
[ 80%] Built target gazebo_motor_model
[ 41%] Built target EKF2Utility
[ 42%] Built target FlightTask
[ 42%] Built target launchdetection
[ 81%] Built target gazebo_catapult_plugin
[ 42%] Built target runway_takeoff
[ 43%] Built target AttitudeControl
[ 44%] Built target zero_order_hover_thrust_ekf
[ 83%] Built target gazebo_multirotor_base_plugin
[ 44%] Built target PositionControl
[ 44%] Built target Takeoff
[ 45%] Built target RateControl
[ 85%] Built target gazebo_magnetometer_plugin
[ 46%] Built target geofence_breach_avoidance
[ 47%] Built target data_validator
[ 86%] Built target gazebo_usv_dynamics_plugin
[ 48%] Built target vehicle_acceleration
[ 48%] Built target vehicle_air_data
[ 48%] Built target vehicle_angular_velocity
[ 87%] Built target gazebo_barometer_plugin
[ 48%] Built target vehicle_gps_position
[ 88%] Built target gazebo_parachute_plugin
[ 50%] Built target vehicle_magnetometer
[ 50%] Built target vehicle_imu
[ 51%] Built target avoidance
[ 89%] Built target gazebo_drop_plugin
[ 51%] Built target drivers_accelerometer
[ 52%] Built target uORB
[ 90%] Built target ForceVisual
[ 52%] Built target drivers_gyroscope
[ 53%] Built target drivers_magnetometer
[ 54%] Built target modules__commander__commander_tests
[ 56%] Built target PreFlightCheck
[ 91%] Built target gazebo_gst_camera_plugin
[ 92%] Built target gazebo_irlock_plugin
[ 56%] Built target modules__control_allocator
[ 56%] Built target modules__dataman
[ 59%] Built target modules__ekf2
[ 60%] Built target modules__events
[ 93%] Built target gazebo_gps_plugin
[ 60%] Built target FlightTaskUtility
[ 96%] Built target gazebo_video_stream_widget
[ 60%] Built target FlightTaskDescend
[ 61%] Built target FlightTaskFailsafe
[ 61%] Built target modules__fw_att_control
[ 98%] Built target LiftDragPlugin
[ 61%] Built target fw_autotune_attitude_control
[ 62%] Built target modules__fw_pos_control_l1
[100%] Built target gazebo_opticalflow_plugin
[ 63%] Built target drivers__gimbal
[ 63%] Built target modules__gyro_calibration
[ 64%] Built target modules__gyro_fft
[ 64%] No install step for 'sitl_gazebo'
[ 65%] Built target modules__land_detector
[ 65%] Built target modules__landing_target_estimator
[ 67%] Built target modules__load_mon
[ 68%] Completed 'sitl_gazebo'
[ 70%] Built target modules__local_position_estimator
[ 69%] Built target modules__mag_bias_estimator
[ 70%] Built target modules__logger
[ 70%] Built target sitl_gazebo
[ 71%] Built target module__manual_control
[ 71%] Built target modules__mavlink__mavlink_tests
[ 72%] Built target modules__mc_att_control
[ 72%] Built target mc_autotune_attitude_control
[ 72%] Built target modules__mc_hover_thrust_estimator
[ 72%] Built target modules__mc_pos_control
[ 74%] Built target modules__mavlink
[ 74%] Built target modules__mc_rate_control
[ 74%] Built target modules__rc_update
[ 75%] Built target modules__replay
[ 75%] Built target modules__rover_pos_control
[ 77%] Built target modules__navigator
[ 77%] Built target modules__sensors
[ 78%] Built target modules__simulator__battery_simulator
[ 78%] Built target modules__simulator__sensor_baro_sim
[ 78%] Built target modules__simulator
[ 78%] Built target modules__simulator__sensor_gps_sim
[ 78%] Built target modules__simulator__sensor_mag_sim
[ 80%] Built target modules__uuv_att_control
[ 80%] Built target modules__temperature_compensation
[ 80%] Built target modules__uuv_pos_control
[ 80%] Built target modules__vtol_att_control
[ 81%] Built target systemcmds__dyn
[ 81%] Built target systemcmds__actuator_test
[ 81%] Built target systemcmds__failure
[ 81%] Built target systemcmds__led_control
[ 82%] Built target systemcmds__motor_test
[ 82%] Built target systemcmds__mixer
[ 82%] Built target systemcmds__param
[ 82%] Built target systemcmds__perf
[ 82%] Built target systemcmds__sd_bench
[ 82%] Built target systemcmds__pwm
[ 84%] Built target systemcmds__shutdown
[ 85%] Built target systemcmds__system_time
[ 85%] Built target systemcmds__tests__hrt_test
[ 88%] Built target systemcmds__tests
[ 88%] Built target systemcmds__topic_listener
[ 89%] Built target systemcmds__tune_control
[ 89%] Built target systemcmds__uorb
[ 89%] Built target systemcmds__ver
[ 89%] Built target systemcmds__work_queue
[ 89%] Built target modules__fake_imu
[ 89%] Built target modules__fake_gps
[ 89%] Built target examples__fake_magnetometer
[ 89%] Built target examples__fixedwing_control
[ 90%] Built target examples__hello
[ 90%] Built target examples__px4_mavlink_debug
[ 90%] Built target examples__px4_simple_app
[ 90%] Built target examples__rover_steering_control
[ 91%] Built target examples__uuv_example_app
[ 91%] Built target examples__work_item
[ 91%] Built target lib__cdev__test__cdev_test
[ 91%] Built target lib__controllib__controllib_test
[ 91%] Built target lib__rc__rc_tests
[ 91%] Built target modules__uORB__uORB_tests
[ 92%] Built target lib__work_queue__test__wqueue_test
[ 92%] Built target drivers__camera_trigger
[ 93%] Built target drivers__pwm_out_sim
[ 93%] Built target drivers__gps
[ 93%] Built target examples__rpm_simulator
[ 94%] Built target drivers__tone_alarm
[ 94%] Built target modules__airship_att_control
[ 94%] Built target modules__airspeed_selector
[ 94%] Built target modules__attitude_estimator_q
[ 95%] Built target modules__camera_feedback
[ 95%] Built target ArmStateMachine
[ 95%] Built target FlightTaskAuto
[ 95%] Built target FlightTaskManualAltitude
[ 95%] Built target FlightTaskTransition
[ 95%] Built target FlightTaskAutoFollowMe
[ 95%] Built target FlightTaskManualAltitudeSmoothVel
[ 96%] Built target modules__commander
[ 96%] Built target FlightTaskManualPosition
[ 96%] Built target FlightTaskManualAcceleration
[ 96%] Built target FlightTaskOrbit
[ 97%] Built target FlightTaskManualPositionSmoothVel
[ 98%] Built target modules__flight_mode_manager
[100%] Built target px4
Scanning dependencies of target gazebo_iris__empty
SITL ARGS
sitl_bin: /root/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: iris
world: empty
src_path: /root/Firmware
build_path: /root/Firmware/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/root/Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/root/Firmware/Tools/sitl_gazebo/models
LD_LIBRARY_PATH :/root/Firmware/build/px4_sitl_default/build_gazebo
Using: /root/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf
ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
not running gazebo gui
SITL COMMAND: "/root/Firmware/build/px4_sitl_default/bin/px4" "/root/Firmware/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/root/Firmware"/test_data
Creating symlink /root/Firmware/build/px4_sitl_default/etc -> /root/Firmware/build/px4_sitl_default/tmp/rootfs/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
  SYS_AUTOCONFIG: curr: 0 -> new: 1
  SYS_AUTOSTART: curr: 0 -> new: 10016
  CAL_ACC0_ID: curr: 0 -> new: 1310988
  CAL_GYRO0_ID: curr: 0 -> new: 1310988
  CAL_ACC1_ID: curr: 0 -> new: 1310996
  CAL_GYRO1_ID: curr: 0 -> new: 1310996
  CAL_ACC2_ID: curr: 0 -> new: 1311004
  CAL_GYRO2_ID: curr: 0 -> new: 1311004
* CAL_MAG0_ID: curr: 0 -> new: 197388
* CAL_MAG1_ID: curr: 0 -> new: 197644
* SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
* SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
* SYS_AUTOCONFIG: curr: 1 -> new: 0
* IMU_INTEG_RATE: curr: 200 -> new: 250
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
* PWM_AUX_OUT: curr: 0 -> new: 1234
* PWM_MAIN_OUT: curr: 0 -> new: 1234
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
ERROR [mavlink] invalid partner ip '::ffff:198.18.1.14'

### Description
This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connect
Usage: mavlink <command> [arguments...]
 Commands:

   start         Start a new instance
     [-d <val>]  Select Serial Device
                 values: <file:dev>, default: /dev/ttyS1
     [-b <val>]  Baudrate (can also be p:<param_name>)
                 default: 57600
     [-r <val>]  Maximum sending data rate in B/s (if 0, use baudrate / 20)
                 default: 0
     [-p]        Enable Broadcast
     [-u <val>]  Select UDP Network Port (local)
                 default: 14556
     [-o <val>]  Select UDP Network Port (remote)
                 default: 14550
     [-t <val>]  Partner IP (broadcasting can be enabled via -p flag)
                 default: 127.0.0.1
     [-m <val>]  Mode: sets default streams and rates
                 values: custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal, default:
     [-n <val>]  wifi/ethernet interface name
                 values: <interface_name>
     [-f]        Enable message forwarding to other Mavlink instances
     [-w]        Wait to send, until first message received
     [-x]        Enable FTP
     [-z]        Force hardware flow control always on
     [-Z]        Force hardware flow control always off

   stop-all      Stop all instances

   stop          Stop a running instance
     [-u <val>]  Select Mavlink instance via local Network Port
     [-d <val>]  Select Mavlink instance via Serial Device
                 values: <file:dev>

   status        Print status for all instances
     [streams  ] Print all enabled streams

   stream        Configure the sending rate of a stream for a running instance
     [-u <val>]  Select Mavlink instance via local Network Port
     [-d <val>]  Select Mavlink instance via Serial Device
                 values: <file:dev>
     -s <val>    Mavlink stream to configure
     -r <val>    Rate in Hz (0 = turn off, -1 = set to default)

   boot_complete Enable sending of messages. (Must be) called as last step in startup script.
ERROR [px4] Startup script returned with return value: 65280
[100%] Built target gazebo_iris__empty
parallels@ubuntu-linux-20-04-desktop:~$

JonasVautherin commented 1 year ago

uname -ar?
docker --version?
docker run --rm -it jonasvautherin/px4-gazebo-headless:1.13.0?

mengchaoheng commented 1 year ago

parallels@ubuntu-linux-20-04-desktop:~/Desktop$ uname -ar
Linux ubuntu-linux-20-04-desktop 5.15.0-52-generic #58~20.04.1-Ubuntu SMP Thu Oct 13 13:10:09 UTC 2022 aarch64 aarch64 aarch64 GNU/Linux
parallels@ubuntu-linux-20-04-desktop:~/Desktop$ docker --version
Docker version 20.10.20, build 9fdeb9c
parallels@ubuntu-linux-20-04-desktop:~/Desktop$ docker run --rm -it jonasvautherin/px4-gazebo-headless:1.13.0
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
exec /root/entrypoint.sh: exec format error

@JonasVautherin

julianoes commented 1 year ago

It looks like you're passing an IPv6 address rather than an IPv4, so it fails to parse that.

JonasVautherin commented 1 year ago

Yeah something is different in this VM (looks like a parallels VM), and the script fails to detect the host IP properly:

ERROR [mavlink] invalid partner ip '::ffff:198.18.1.14'

Also I guess it's an M1? Support for arm was added after 1.13.0, IIRC :sweat_smile:

WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested exec /root/entrypoint.sh: exec format error

mengchaoheng commented 1 year ago

yes, it's m1 MacBook Pro, I running arm-based Ubuntu

JonasVautherin commented 1 year ago

Could you run:

docker run --rm -it --entrypoint /bin/bash jonasvautherin/px4-gazebo-headless:1.13.1

And there in the terminal run:

ip a
ip route

And show the output here?

mengchaoheng commented 1 year ago

now the ip is ok :

parallels@ubuntu-linux-20-04-desktop:~/Desktop$ docker run --rm -it jonasvautherin/px4-gazebo-headless:1.13.1
[  0%] Built target ver_gen
[  0%] Generating ../../logs
[  0%] Built target git_gazebo
[  0%] Built target parameters_xml
[  0%] Built target logs_symlink
[  0%] Built target events_header
[  0%] Built target flighttasks_generated
[  0%] Built target uorb_headers
[  0%] Built target actuators_json
[  0%] Built target drivers_board
[  0%] Built target mixer_gen_6dof
[  0%] Built target mixer_gen
[  0%] Built target output_functions_header
[  0%] Built target version
[  0%] Built target wind_estimator
[  0%] Built target world_magnetic_model
[  0%] Built target git_gps_devices
[  0%] Built target git_mavlink_v2
[  0%] Performing build step for 'sitl_gazebo'
make[5]: warning: -jN forced in submake: disabling jobserver mode.
[  0%] Built target events_json
[  0%] Built target tinybson
[  0%] Built target perf
[  2%] Built target work_queue
[  2%] Built target geo
[  3%] Built target std_msgs
[ 19%] Built target sensor_msgs
[  2%] Built target MixerBase
[  2%] Built target mavlink_c_generate
[  2%] Built target component_general_json
[ 23%] Built target physics_msgs
[ 27%] Built target mav_msgs
[ 22%] Built target uorb_msgs
[ 22%] Built target HelicopterMixer
[ 29%] Built target klt_feature_tracker
[ 31%] Built target nav_msgs
[ 23%] Built target MultirotorMixer
[ 24%] Built target parameters
[ 46%] Built target models_gen
[ 24%] Built target NullMixer
[ 24%] Built target SimpleMixer
[ 25%] Built target romfs_gen_files_target
[ 25%] Built target px4_work_queue
[ 48%] Built target gazebo_uuv_plugin
[ 26%] Built target mixer
[ 50%] Built target gazebo_lidar_plugin
[ 27%] Built target px4_platform
[ 27%] Built target lockstep_scheduler
[ 53%] Built target gazebo_user_camera_plugin
[ 55%] Built target gazebo_groundtruth_plugin
[ 28%] Built target px4_daemon
[ 29%] Built target px4_layer
[ 57%] Built target gazebo_sonar_plugin
[ 59%] Built target gazebo_camera_manager_plugin
[ 30%] Built target bezier
[ 30%] Built target hysteresis
[ 30%] Built target airspeed
[ 62%] Built target OpticalFlow
[ 63%] Built target gazebo_opticalflow_mockup_plugin
[ 31%] Built target cdev
[ 31%] Built target battery
[ 31%] Built target systemlib
[ 65%] Built target gazebo_airspeed_plugin
[ 31%] Built target circuit_breaker
[ 31%] Built target CollisionPrevention
[ 32%] Built target controllib
[ 67%] Built target gazebo_airship_dynamics_plugin
[ 32%] Built target conversion
[ 32%] Built target l1
[ 32%] Built target landing_slope
[ 69%] Built target gazebo_controller_interface
[ 34%] Built target mathlib
[ 34%] Built target mixer_module
[ 35%] Built target motion_planning
[ 71%] Built target gazebo_vision_plugin
[ 35%] Built target npfg
[ 35%] Built target pid
[ 36%] Built target rc
[ 73%] Built target gazebo_gimbal_controller_plugin
[ 36%] Built target SlewRate
[ 37%] Built target sensor_calibration
[ 75%] Built target gazebo_imu_plugin
[ 37%] Built target SystemIdentification
[ 38%] Built target tecs
[ 38%] Built target tunes
[ 39%] Built target WeatherVane
[ 76%] Built target gazebo_wind_plugin
[ 39%] Built target arch_tone_alarm
[ 39%] Built target failure_detector
[ 39%] Built target ArmAuthorization
[ 79%] Built target gazebo_mavlink_interface
[ 40%] Built target HealthFlags
[ 40%] Built target ControlAllocation
[ 80%] Built target gazebo_motor_model
[ 41%] Built target ActuatorEffectiveness
[ 41%] Built target EKF2Utility
[ 42%] Built target FlightTask
[ 81%] Built target gazebo_catapult_plugin
[ 42%] Built target launchdetection
[ 42%] Built target runway_takeoff
[ 83%] Built target gazebo_multirotor_base_plugin
[ 43%] Built target AttitudeControl
[ 44%] Built target zero_order_hover_thrust_ekf
[ 44%] Built target PositionControl
[ 44%] Built target Takeoff
[ 85%] Built target gazebo_magnetometer_plugin
[ 45%] Built target RateControl
[ 86%] Built target gazebo_usv_dynamics_plugin
[ 46%] Built target geofence_breach_avoidance
[ 47%] Built target data_validator
[ 48%] Built target vehicle_acceleration
[ 87%] Built target gazebo_barometer_plugin
[ 48%] Built target vehicle_angular_velocity
[ 48%] Built target vehicle_air_data
[ 48%] Built target vehicle_gps_position
[ 88%] Built target gazebo_parachute_plugin
[ 50%] Built target vehicle_imu
[ 50%] Built target vehicle_magnetometer
[ 51%] Built target avoidance
[ 89%] Built target gazebo_drop_plugin
[ 90%] Built target ForceVisual
[ 52%] Built target drivers_accelerometer
[ 52%] Built target uORB
[ 52%] Built target drivers_gyroscope
[ 52%] Built target lib__rc__rc_tests
[ 53%] Built target drivers_magnetometer
[ 91%] Built target gazebo_gst_camera_plugin
[ 92%] Built target gazebo_irlock_plugin
[ 53%] Built target modules__uORB__uORB_tests
[ 54%] Built target lib__work_queue__test__wqueue_test
[ 54%] Built target drivers__camera_trigger
[ 55%] Built target drivers__gps
[ 55%] Built target examples__rpm_simulator
[ 55%] Built target drivers__pwm_out_sim
[ 93%] Built target gazebo_gps_plugin
[ 56%] Built target drivers__tone_alarm
[ 96%] Built target gazebo_video_stream_widget
[ 56%] Built target modules__airship_att_control
[ 56%] Built target modules__airspeed_selector
[ 56%] Built target modules__attitude_estimator_q
[ 98%] Built target LiftDragPlugin
[100%] Built target gazebo_opticalflow_plugin
[ 57%] Built target modules__camera_feedback
[ 59%] Built target PreFlightCheck
[ 60%] Built target modules__commander__commander_tests
[ 60%] No install step for 'sitl_gazebo'
[ 60%] Built target modules__control_allocator
[ 60%] Built target modules__dataman
[ 63%] Built target modules__ekf2
[ 64%] Completed 'sitl_gazebo'
[ 65%] Built target modules__events
[ 65%] Built target FlightTaskUtility
[ 65%] Built target FlightTaskDescend
[ 67%] Built target FlightTaskFailsafe
[ 67%] Built target sitl_gazebo
[ 67%] Built target modules__fw_att_control
[ 67%] Built target fw_autotune_attitude_control
[ 68%] Built target modules__fw_pos_control_l1
[ 68%] Built target modules__gyro_calibration
[ 69%] Built target drivers__gimbal
[ 70%] Built target modules__gyro_fft
[ 71%] Built target modules__land_detector
[ 72%] Built target modules__load_mon
[ 72%] Built target modules__landing_target_estimator
[ 73%] Built target modules__local_position_estimator
[ 74%] Built target module__manual_control
[ 75%] Built target modules__logger
[ 75%] Built target modules__mag_bias_estimator
[ 76%] Built target mc_autotune_attitude_control
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Scanning dependencies of target gazebo_iris__empty
SITL ARGS
sitl_bin: /root/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: gazebo
model: iris
world: empty
src_path: /root/Firmware
build_path: /root/Firmware/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/root/Firmware/build/px4_sitl_default/build_gazebo
GAZEBO_MODEL_PATH :/root/Firmware/Tools/sitl_gazebo/models
LD_LIBRARY_PATH :/root/Firmware/build/px4_sitl_default/build_gazebo
Using: /root/Firmware/Tools/sitl_gazebo/models/iris/iris.sdf
ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
not running gazebo gui
SITL COMMAND: "/root/Firmware/build/px4_sitl_default/bin/px4" "/root/Firmware/build/px4_sitl_default"/etc -s etc/init.d-posix/rcS -t "/root/Firmware"/test_data
Creating symlink /root/Firmware/build/px4_sitl_default/etc -> /root/Firmware/build/px4_sitl_default/tmp/rootfs/etc

______  __   __    ___ 
| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10016
INFO  [param] selected parameter default file eeprom/parameters_10016
[param] parameter file not found, creating eeprom/parameters_10016
  SYS_AUTOCONFIG: curr: 0 -> new: 1
  SYS_AUTOSTART: curr: 0 -> new: 10016
  CAL_ACC0_ID: curr: 0 -> new: 1310988
  CAL_GYRO0_ID: curr: 0 -> new: 1310988
  CAL_ACC1_ID: curr: 0 -> new: 1310996
  CAL_GYRO1_ID: curr: 0 -> new: 1310996
  CAL_ACC2_ID: curr: 0 -> new: 1311004
  CAL_GYRO2_ID: curr: 0 -> new: 1311004
* CAL_MAG0_ID: curr: 0 -> new: 197388
* CAL_MAG1_ID: curr: 0 -> new: 197644
* SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
* SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
* SYS_AUTOCONFIG: curr: 1 -> new: 0
* IMU_INTEG_RATE: curr: 200 -> new: 250
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
PX4 SIM HOST: localhost
INFO  [simulator] Waiting for simulator to accept connection on TCP port 4560
INFO  [simulator] Simulator connected on TCP port 4560.
INFO  [commander] LED: open /dev/led0 failed (22)
* PWM_AUX_OUT: curr: 0 -> new: 1234
* PWM_MAIN_OUT: curr: 0 -> new: 1234
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] setting PWM_AUX_OUT none
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO  [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] [logger] ./log/2022-10-24/09_37_59.ulg   
INFO  [logger] Opened full log file: ./log/2022-10-24/09_37_59.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO  [px4] Startup script returned successfully
pxh> INFO  [tone_alarm] home set
INFO  [tone_alarm] notify negative

pxh> 
pxh> 
pxh> commander takeoff
pxh> INFO  [commander] Armed by internal command    
INFO  [tone_alarm] arming warning
INFO  [navigator] Using minimum takeoff altitude: 2.50 m    
INFO  [commander] Takeoff detected  
WARN  [commander] Failsafe enabled: no RC and no datalink   
INFO  [commander] Failsafe mode activated   
INFO  [navigator] RTL HOME activated    
INFO  [navigator] RTL: landing at home position.    
INFO  [navigator] RTL: climb to 489 m (1 m above destination)   
INFO  [tone_alarm] battery warning (fast)
INFO  [commander] Failsafe mode deactivated 
INFO  [navigator] RTL: return at 489 m (1 m above destination)  
INFO  [navigator] RTL: land at destination  
INFO  [commander] Landing detected  
INFO  [commander] Disarmed by landing   
INFO  [tone_alarm] notify neutral
INFO  [logger] closed logfile, bytes written: 3787377

mengchaoheng commented 1 year ago

but don't have gazebo ? @JonasVautherin

mengchaoheng commented 1 year ago

parallels@ubuntu-linux-20-04-desktop:~/Desktop$ docker run --rm -it --entrypoint /bin/bash jonasvautherin/px4-gazebo-headless:1.13.1
root@3028512c5c40:/#

JonasVautherin commented 1 year ago

but don't have gazebo ?

Well it's headless, you will only see the PX4 shell :sweat_smile:

mengchaoheng commented 1 year ago

How can I use Docker like the official manual? The official image can run the sitl simulation directly, and the gazebo graphical interface can appear. like https://docs.px4.io/main/en/test_and_ci/docker.html.

It would be great if your Docker has this feature. I think you have the ability to build one. @JonasVautherin

mengchaoheng commented 1 year ago

but don't have gazebo ?

Well it's headless, you will only see the PX4 shell 😅

got it

JonasVautherin commented 1 year ago

now the ip is ok :

What did you change to make it work?

mengchaoheng commented 1 year ago

now the ip is ok :

What did you change to make it work?

I don't know, maybe a new network.

JonasVautherin commented 1 year ago

Ok, well happy to see that it works. I guess we can close it now :blush:

JonasVautherin / px4-gazebo-headless

docker run error #34