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JonasVautherin / px4-gazebo-headless

An unofficial Ubuntu-based container building and running PX4 SITL (Software In The Loop) through gazebo.
Apache License 2.0
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Windows 11 - MAVLink traffic for UDP port not reaching QGC and MAVSDK #49

Open KarthiAru opened 4 months ago

KarthiAru commented 4 months ago

Hi,

The MAVLink traffic for UDP port 14550 (and 14540) does not seem to arrive in QGroundControl (and MAVSDK) on Windows 11 OS. I've installed Docker Desktop on Windows. I've also added two rules for incoming and outgoing connections for the UDP port in the Windows Firewall.

I tried running the following commands, but no luck.

docker run --rm -it jonasvautherin/px4-gazebo-headless:1.14.3
docker run --rm -it jonasvautherin/px4-gazebo-headless:1.14.3 10.0.2.2 10.0.2.2
docker run --rm --network host -it jonasvautherin/px4-gazebo-headless:1.14.3 127.0.0.1 127.0.0.1

Logs:

PS C:\Users\DELL> docker run --rm -it jonasvautherin/px4-gazebo-headless:1.14.3
Scanning dependencies of target gazebo_iris__empty
WARNING gazebo_iris__empty target DEPRECATED, please use gazebo-classic_iris__empty
make[5]: warning: jobserver unavailable: using -j1.  Add '+' to parent make rule.
[  0%] Built target parameters_xml
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[  0%] Built target events_header
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[  0%] Built target flighttasks_generated
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[  1%] Built target romfs_gen_files_target
[ 22%] Built target uorb_msgs
[ 22%] Built target geo
[ 22%] Built target perf
[ 22%] Built target tinybson
[ 24%] Built target work_queue
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[ 24%] Built target parameters
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[ 98%] Performing build step for 'sitl_gazebo-classic'
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[ 98%] No install step for 'sitl_gazebo-classic'
[ 98%] Completed 'sitl_gazebo-classic'
[100%] Built target sitl_gazebo-classic
Scanning dependencies of target gazebo-classic_iris__empty
SITL ARGS
sitl_bin: /root/Firmware/build/px4_sitl_default/bin/px4
debugger: none
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-classic
GAZEBO_MODEL_PATH :/root/Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
LD_LIBRARY_PATH :/root/Firmware/build/px4_sitl_default/build_gazebo-classic
Using: /root/Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic/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

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

px4 starting.

INFO  [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO  [init] found model autostart file as SYS_AUTOSTART=10015
INFO  [param] selected parameter default file parameters.bson
INFO  [param] selected parameter backup file parameters_backup.bson
  SYS_AUTOCONFIG: curr: 0 -> new: 1
ERROR [param] Parameter UXRCE_DDS_KEY not found.
  SYS_AUTOSTART: curr: 0 -> new: 10015
  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_MAG0_PRIO: curr: -1 -> new: 50
  CAL_MAG1_ID: curr: 0 -> new: 197644
  CAL_MAG1_PRIO: curr: -1 -> new: 50
* SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
* SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
INFO  [dataman] data manager file './dataman' size is 7866640 bytes
etc/init.d-posix/rcS: 39: [: Illegal number:
INFO  [init] PX4_SIM_HOSTNAME: localhost
INFO  [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
INFO  [simulator_mavlink] Simulator connected on TCP port 4560.
INFO  [lockstep_scheduler] setting initial absolute time to 576000 us
INFO  [commander] LED: open /dev/led0 failed (22)
ERROR [param] Parameter UXRCE_DDS_DOM_ID not found.
etc/init.d-posix/rcS: 292: etc/init.d-posix/rcS: uxrce_dds_client: not found
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  [tone_alarm] home set
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/2024-06-30/07_49_58.ulg
INFO  [logger] Opened full log file: ./log/2024-06-30/07_49_58.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] notify negative
INFO  [commander] Ready for takeoff!
JonasVautherin commented 4 months ago

These are the tricks I was doing for the Docker VMs (Windows/macOS), but I haven't tried them in years (I work on Linux). Maybe this has changed.

Let me know if you find a way to fix this on Windows 11. A first thing you could try would be to run a simple Linux image in a docker container, check the network setup and see how you can e.g. ping the Windows host.

Also, is Docker still running in a VM on Windows? Or do they somehow leverage WSL?

KarthiAru commented 4 months ago

These are the tricks I was doing for the Docker VMs (Windows/macOS), but I haven't tried them in years (I work on Linux). Maybe this has changed.

Let me know if you find a way to fix this on Windows 11. A first thing you could try would be to run a simple Linux image in a docker container, check the network setup and see how you can e.g. ping the Windows host.

Also, is Docker still running in a VM on Windows? Or do they somehow leverage WSL?

Docker Desktop v4.31.1 (latest) uses WSL2 based engine by default. I spun up a Ubuntu container and was able to ping the host from the container. Also I was able to send and receive UDP message from the container to the host.

Sending a UDP packet from Docker container

root@docker-desktop:/# echo "Hello QGC" | nc -u 192.168.0.138 14550

Listening for UDP packet from host

PS C:\Users\karth\Documents> python test.py
received message: Hello QGC
 from ('192.168.0.138', 63447)

test.py

import socket

sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sock.bind(('0.0.0.0', 14550))

while True:
    data, addr = sock.recvfrom(1024)
    print("received message:", data.decode(), "from", addr)
JonasVautherin commented 4 months ago

Does this mean that 192.168.0.138 is the IP of the host from WSL? In that case did you try the following?

docker run --rm -it jonasvautherin/px4-gazebo-headless:1.14.3 192.168.0.138 192.168.0.138
Miguelmcanabal commented 1 month ago

Try downgrading to Docker Desktop 4.30.0, it worked for me