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Cyphal/DroneCAN nodes documentation
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Yakut monitoring issue : node not detected #17

Open hve4638 opened 4 months ago

hve4638 commented 4 months ago

I am trying to capture packets using yakut.

We have connected a UAVCAN mux v5 to our CAN connector and attached one GNSS and PWM NODE v2.

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When we run innopolis_vtol_dynamics/scripts/docker.sh, we can see that it creates an slcan, as confirmed. We referred to OpenCyphal/yakut and only modified the port serial to fit our environment.

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When we run yakut mon, the following window appears twice and quickly disappears,

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then changes to the following window.

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The PX4_FMU_V5 is recognized, but the GNSS MAC BARO and PWM NODE v2 node items do not appear. I am not sure what co.racoonlab.communicator means. Despite trying various hardware approaches and modifying the environment variables according to OpenCyphal/yakut, we could not find the nodes. We think that registering the node or uploading firmware to the node might be necessary, but there is a lack of explanation for this part. We are unsure which file needs to be uploaded to the PWM NODE v2.

Could you advise on any additional settings or help related to node or node registration?

pavel-kirienko commented 4 months ago

When we run yakut mon, the following window appears twice and quickly disappears

Can't comment on the rest of this post but the view changes because your terminal is not tall enough to contain the connectivity matrix, so Yakut doesn't render it at all. Enlarge the terminal window or reduce the font size to fix this.

PonomarevDA commented 4 months ago

I am not sure what co.racoonlab.communicator means

co.racoonlab.communicator is the HITL simulator related node. It is a part of what you run in docker.sh. It subscribes to setpoint and readiness from the autopilot and publishes them to ROS. The same goes for sensors, but in the opposite direction. You can check the related repo for details.

If you want to check mini v2 node and gnss, I recommend doing it interdependently from the HITL simulator. The recommended steps for these nodes are described in the pages: gnss cyphal interface, gnss dronecan interface, mini node cyphal interface and mini node dronecan interface. If you power up a node from sniffer and the node blinks, it means it is either cyphal or dronecan. You can try gui tool or yakut to check it. Alternatively you can try rl-get-info from tools. This package is a work in progress. This command should return the info about online sniffers by checking USB ports, listen for raw CAN-messages and determine the CAN-protocol, then request the node info and print it (for Cyphal info you should set the required environment variables though).

After determining the current CAN protocol and the node version, you can decide to update the firmware. Please refer to the update firmware for details.