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mavlink / MAVSDK-Java

MAVSDK client for Java.
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java.net.ConnectException: Connection refused (Connection refused) error when running "./gradlew setRtlAltitude" #29

Closed enymuss closed 4 years ago

enymuss commented 4 years ago

Hello,

Looking for help to fix this issue, to find the bug in how the java-client has been set up on my local machine. Going through the java-client example, mavsdk_server and headless gazebo runs, but ./gradlew setRtlAltitude comes up with an error.

MAVSDK server runs and connects to Gazebo.

MartaS:MAVSDK userX$ build/release/install/bin/mavsdk_server
[05:03:24|Info ] MAVSDK version: 0.24.0 (mavsdk_impl.cpp:25)
[05:03:24|Debug] New: System ID: 0 Comp ID: 0 (mavsdk_impl.cpp:401)
[05:03:24|Info ] Server started (grpc_server.cpp:38)
[05:03:24|Info ] Server set to listen on 0.0.0.0:51959 (grpc_server.cpp:39)
[05:03:24|Info ] Waiting to discover system on udp://:14540... (connection_initiator.h:22)
[05:03:47|Info ] New system on: 127.0.0.1:60847 (udp_connection.cpp:264)
[05:03:47|Debug] Component Autopilot (1) added. (system_impl.cpp:386)
[05:03:47|Debug] MAVLink: info: [logger] file: ./log/2020-02-23/16_03_47.ulg (system_impl.cpp:292)
[05:03:48|Debug] Discovered 1 component(s) (UUID: 5283920058631409231) (system_impl.cpp:556)
[05:03:48|Info ] System discovered [UUID: 5283920058631409231] (connection_initiator.h:61)

Running headless gazebo: docker run --rm -it jonasvautherin/px4-gazebo-headless:v1.10.1

INFO  [simulator] Simulator connected on TCP port 4560.
[Msg] Using MAVLink protocol v2.0
INFO  [init] Mixer: etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14570 remote port 14550
INFO  [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 14580 remote port 14540
INFO  [logger] logger started (mode=all)
INFO  [logger] Start file log (type: full)
INFO  [logger] Opened full log file: ./log/2020-02-23/16_03_47.ulg
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
INFO  [mavlink] MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)
  MAV_BROADCAST: curr: 0 -> new: 1
INFO  [px4] Startup script returned successfully
pxh> INFO  [ekf2] Mag sensor ID changed to 197388
INFO  [ecl/EKF] EKF aligned, (pressure height, IMU buf: 22, OBS buf: 14)
INFO  [ecl/EKF] 728000: EKF GPS checks passed (WGS-84 origin set)
INFO  [ecl/EKF] 5196000: EKF commencing GPS fusion

QGroundControl connects and I am able to Take Off and Land manually through QGroundControl. INFO output is printed for PX4 and MAVSDK server, showing take off and landing took place.

./gradlew takeoffAndLand builds successfully, but maybe it is a silent fail, as nothing shows up in QGroundControl controller, mavsdk_server or simulator logs.

./gradlew takeoffAndLand
> Task :takeoffAndLand
17:21:50.199 [main] DEBUG io.mavsdk.example.TakeoffAndLand - Starting example: takeoff and land...

BUILD SUCCESSFUL in 1s
2 actionable tasks: 1 executed, 1 up-to-date

Output with error from running ./gradlew setRtlAltitude

MartaS:java-client userX$ ./gradlew setRtlAltitude

> Configure project :

=======
WARNING: this is not the best way to run `jshell`, as it may not be cross-platform and it won't have auto-completion enabled.
You may want to run the following instead:

    $ ./gradlew exportDeps
    $ jshell --class-path $(ls -d build/jshell_classpath_export/* | tr '\n' ':')
=======

> Task :setRtlAltitude
17:26:52.422 [main] DEBUG io.mavsdk.example.SetRtlAltitude - Starting example: set RTL altitude...
io.reactivex.exceptions.OnErrorNotImplementedException: UNAVAILABLE
        at io.reactivex.internal.observers.CallbackCompletableObserver.accept(CallbackCompletableObserver.java:48)
        at io.reactivex.internal.observers.CallbackCompletableObserver.accept(CallbackCompletableObserver.java:26)
        at io.reactivex.internal.observers.CallbackCompletableObserver.onError(CallbackCompletableObserver.java:65)
        at io.reactivex.internal.operators.completable.CompletableConcatArray$ConcatInnerObserver.onError(CompletableConcatArray.java:60)
        at io.reactivex.internal.operators.completable.CompletableConcatArray$ConcatInnerObserver.onError(CompletableConcatArray.java:60)
        at io.reactivex.internal.operators.completable.CompletableConcatArray$ConcatInnerObserver.onError(CompletableConcatArray.java:60)
        at io.reactivex.internal.operators.completable.CompletableCreate$Emitter.tryOnError(CompletableCreate.java:90)
        at io.reactivex.internal.operators.completable.CompletableCreate$Emitter.onError(CompletableCreate.java:76)
        at io.mavsdk.action.Action$15.onError(Action.java:650)
        at io.grpc.stub.ClientCalls$StreamObserverToCallListenerAdapter.onClose(ClientCalls.java:434)
        at io.grpc.PartialForwardingClientCallListener.onClose(PartialForwardingClientCallListener.java:39)
        at io.grpc.ForwardingClientCallListener.onClose(ForwardingClientCallListener.java:23)
        at io.grpc.ForwardingClientCallListener$SimpleForwardingClientCallListener.onClose(ForwardingClientCallListener.java:40)
        at io.grpc.internal.CensusStatsModule$StatsClientInterceptor$1$1.onClose(CensusStatsModule.java:699)
        at io.grpc.PartialForwardingClientCallListener.onClose(PartialForwardingClientCallListener.java:39)
        at io.grpc.ForwardingClientCallListener.onClose(ForwardingClientCallListener.java:23)
        at io.grpc.ForwardingClientCallListener$SimpleForwardingClientCallListener.onClose(ForwardingClientCallListener.java:40)
        at io.grpc.internal.CensusTracingModule$TracingClientInterceptor$1$1.onClose(CensusTracingModule.java:397)
        at io.grpc.internal.ClientCallImpl.closeObserver(ClientCallImpl.java:459)
        at io.grpc.internal.ClientCallImpl.access$300(ClientCallImpl.java:63)
        at io.grpc.internal.ClientCallImpl$ClientStreamListenerImpl.close(ClientCallImpl.java:546)
        at io.grpc.internal.ClientCallImpl$ClientStreamListenerImpl.access$600(ClientCallImpl.java:467)
        at io.grpc.internal.ClientCallImpl$ClientStreamListenerImpl$1StreamClosed.runInContext(ClientCallImpl.java:584)
        at io.grpc.internal.ContextRunnable.run(ContextRunnable.java:37)
        at io.grpc.internal.SerializingExecutor.run(SerializingExecutor.java:123)
        at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
        at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
        at java.lang.Thread.run(Thread.java:748)
Caused by: io.grpc.StatusRuntimeException: UNAVAILABLE
        at io.grpc.Status.asRuntimeException(Status.java:532)
        ... 19 more
Caused by: java.net.ConnectException: Connection refused (Connection refused)
        at java.net.PlainSocketImpl.socketConnect(Native Method)
        at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
        at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
        at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
        at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
        at java.net.Socket.connect(Socket.java:607)
        at java.net.Socket.connect(Socket.java:556)
        at java.net.Socket.<init>(Socket.java:452)
        at java.net.Socket.<init>(Socket.java:262)
        at io.grpc.okhttp.OkHttpClientTransport$4.run(OkHttpClientTransport.java:509)
        ... 4 more
Exception in thread "grpc-default-executor-1" io.reactivex.exceptions.OnErrorNotImplementedException: UNAVAILABLE
        at io.reactivex.internal.observers.CallbackCompletableObserver.accept(CallbackCompletableObserver.java:48)
        at io.reactivex.internal.observers.CallbackCompletableObserver.accept(CallbackCompletableObserver.java:26)
        at io.reactivex.internal.observers.CallbackCompletableObserver.onError(CallbackCompletableObserver.java:65)
        at io.reactivex.internal.operators.completable.CompletableConcatArray$ConcatInnerObserver.onError(CompletableConcatArray.java:60)
        at io.reactivex.internal.operators.completable.CompletableConcatArray$ConcatInnerObserver.onError(CompletableConcatArray.java:60)
        at io.reactivex.internal.operators.completable.CompletableConcatArray$ConcatInnerObserver.onError(CompletableConcatArray.java:60)
        at io.reactivex.internal.operators.completable.CompletableCreate$Emitter.tryOnError(CompletableCreate.java:90)
        at io.reactivex.internal.operators.completable.CompletableCreate$Emitter.onError(CompletableCreate.java:76)
        at io.mavsdk.action.Action$15.onError(Action.java:650)
        at io.grpc.stub.ClientCalls$StreamObserverToCallListenerAdapter.onClose(ClientCalls.java:434)
        at io.grpc.PartialForwardingClientCallListener.onClose(PartialForwardingClientCallListener.java:39)
        at io.grpc.ForwardingClientCallListener.onClose(ForwardingClientCallListener.java:23)
        at io.grpc.ForwardingClientCallListener$SimpleForwardingClientCallListener.onClose(ForwardingClientCallListener.java:40)
        at io.grpc.internal.CensusStatsModule$StatsClientInterceptor$1$1.onClose(CensusStatsModule.java:699)
        at io.grpc.PartialForwardingClientCallListener.onClose(PartialForwardingClientCallListener.java:39)
        at io.grpc.ForwardingClientCallListener.onClose(ForwardingClientCallListener.java:23)
        at io.grpc.ForwardingClientCallListener$SimpleForwardingClientCallListener.onClose(ForwardingClientCallListener.java:40)
        at io.grpc.internal.CensusTracingModule$TracingClientInterceptor$1$1.onClose(CensusTracingModule.java:397)
        at io.grpc.internal.ClientCallImpl.closeObserver(ClientCallImpl.java:459)
        at io.grpc.internal.ClientCallImpl.access$300(ClientCallImpl.java:63)
        at io.grpc.internal.ClientCallImpl$ClientStreamListenerImpl.close(ClientCallImpl.java:546)
        at io.grpc.internal.ClientCallImpl$ClientStreamListenerImpl.access$600(ClientCallImpl.java:467)
        at io.grpc.internal.ClientCallImpl$ClientStreamListenerImpl$1StreamClosed.runInContext(ClientCallImpl.java:584)
        at io.grpc.internal.ContextRunnable.run(ContextRunnable.java:37)
        at io.grpc.internal.SerializingExecutor.run(SerializingExecutor.java:123)
        at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
        at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
        at java.lang.Thread.run(Thread.java:748)
Caused by: io.grpc.StatusRuntimeException: UNAVAILABLE
        at io.grpc.Status.asRuntimeException(Status.java:532)
        ... 19 more
Caused by: java.net.ConnectException: Connection refused (Connection refused)
        at java.net.PlainSocketImpl.socketConnect(Native Method)
        at java.net.AbstractPlainSocketImpl.doConnect(AbstractPlainSocketImpl.java:350)
        at java.net.AbstractPlainSocketImpl.connectToAddress(AbstractPlainSocketImpl.java:206)
        at java.net.AbstractPlainSocketImpl.connect(AbstractPlainSocketImpl.java:188)
        at java.net.SocksSocketImpl.connect(SocksSocketImpl.java:392)
        at java.net.Socket.connect(Socket.java:607)
        at java.net.Socket.connect(Socket.java:556)
        at java.net.Socket.<init>(Socket.java:452)
        at java.net.Socket.<init>(Socket.java:262)
        at io.grpc.okhttp.OkHttpClientTransport$4.run(OkHttpClientTransport.java:509)
        ... 4 more

This is a clean build with the most recent git commits. Mavsdk_server was built from the master branch, with the same settings as outlined for building for macOS release in GitHub workflow main.yaml file.

Java version:

java -version
openjdk version "1.8.0_242"
OpenJDK Runtime Environment (AdoptOpenJDK)(build 1.8.0_242-b08)
OpenJDK 64-Bit Server VM (AdoptOpenJDK)(build 25.242-b08, mixed mode)

Proto version: proto (b34da69)

JonasVautherin commented 4 years ago

The example runs System drone = new System();, which will by default connect to mavsdk_server on port 50051.

So you should run mavsdk_server -p 50051 instead. Without the -p <port> argument, mavsdk_server starts on a random port, in your logs above it's 51959.

[05:03:24|Info ] Server set to listen on 0.0.0.0:51959 (grpc_server.cpp:39)

If that helps, would you mind contributing to the documentation to make that clearer? Just opening a PR on the README.md would be super helpful already!

JonasVautherin commented 4 years ago

@enymuss: Thanks a lot for the PR! Can we close this issue?

enymuss commented 4 years ago

@JonasVautherin Yes, thank you for the help.