`what(): LIBUSB_ERROR_TIMEOUT ` Error on Roadrunner (Only on USB)

[ashwinsushil]

Hello Everyone,

I'm trying to run this launch file,

roslaunch bitcraze_lps_estimator dwm_loc_ekf_hover.launch uri:=usb://0

(With all the copter parts removed ofcourse)

But this error is being thrown every now and then,

terminate called after throwing an instance of 'std::runtime_error'                                                                │                                                                                                                                   
  what():  LIBUSB_ERROR_TIMEOUT                                                                                                    │                                                                                                                                   
[crazyflie_server-6] process has died [pid 24065, exit code -6, cmd /home/unmanned/Workspace/devel/lib/crazyflie_driver/crazyflie_s│                                                                                                                                   
erver __name:=crazyflie_server __log:=/home/unmanned/.ros/log/b02b0af4-3082-11e9-8c3f-faa083e2307f/crazyflie_server-6.log].        │                                                                                                                                   
log file: /home/unmanned/.ros/log/b02b0af4-3082-11e9-8c3f-faa083e2307f/crazyflie_server-6*.log     

After couple of tries of running the same launch file, another error is being thrown,

[INFO] [1550167626.114321]: Anchor 0 at [0.0, 0.0, 1.93]                                                                           │                                                                                                                                   
terminate called after throwing an instance of 'std::runtime_error'                                                                │                                                                                                                                   
  what():  LIBUSB_ERROR_TIMEOUT                                                                                                    │                                                                                                                                   
Traceback (most recent call last):                                                                                                 │                                                                                                                                   
  File "/home/unmanned/Workspace/src/lps-ros/scripts/lps_ekf_bridge.py", line 77, in <module>                                      │                                                                                                                                   
    update_params([name + 'x', name + 'y', name + 'z'])                                                                            │                                                                                                                                   
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 435, in __call__                          │                                                                                                                                   
    return self.call(*args, **kwds)                                                                                                │                                                                                                                                   
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 525, in call                              │                                                                                                                                   
    raise ServiceException("transport error completing service call: %s"%(str(e)))                                                 │                                                                                                                                   
rospy.service.ServiceException: transport error completing service call: unable to receive data from sender, check sender's logs fo│                                                                                                                                   
r details 

And after couple more tries, it WORKS and I'm able to get the pose on the Roadrunner! This is a USB realated issue i presume as I don't get this error when Roadrunner is connected over crazyradio. I have uploaded the same issue in the bitcraze forum: https://forum.bitcraze.io/viewtopic.php?f=2&t=3350

Firmware version on Roadrunner: SYS: Build 4:1762deae7f25 (2019.02 +4) CLEAN SYS: I am 0x3934323530374718003F0023 and I have 1024KB of flash! CFGBLK: v1, verification [OK] DECK_INFO: DECK_FORCE=bcDWM1000 found DECK_INFO: compile-time forced driver bcDWM1000 added DECK_CORE: 1 deck(s) found DECK_CORE: Calling INIT on driver bcDWM1000 for deck 0 IMU: BMI088 Gyro I2C connection [OK]. IMU: BMI088 Accel I2C connection [OK] ESTIMATOR: Using Kalman (2) estimator CONTROLLER: Using PID (1) controller EEPROM: I2C connection [OK]. DECK_CORE: Deck 0 test [OK]. SYS: Free heap: 11432 bytes TDOA3: 2D positioning enabled at 0.300000 m height DWM: Automatic mode: detected TDoA3

LPS node firmware: lps-node-firmware-2018.10.dfu

System details: Ubuntu 16.04 ROS Kinetic ROS driver for roadrunner/crazyflie from https://github.com/whoenig/crazyflie_ros

Thanks in advance, Ash

[ashwinsushil]

comment from @whoenig on bitcraze forum

Feel free to open an issue in github for crazyflie_ros or crazyflie_cpp. I have seen this issue before with USB and a regular Crazyflie. Here is a change that reduces the probability of issues occurring, but does not entirely fix the problem: https://github.com/whoenig/crazyflie_cpp/commit/2d3557ee8dcbf4c43e577578aa686edd6e48b851

[whoenig]

From the forum, the fix only changes the kind of error message, and does not improve reliability drastically.

Like you mentioned it has not solved the issue and 7 out of 10 times (approx :D), I am not able to get the pose.

However, now I don't have what(): LIBUSB_ERROR_TIMEOUT error. Instead its the below given warning and no pose..

[ WARN] [1550222925.240533190]: Link Quality low (0.000000)

[whoenig]

Just as update here: I'll receive a roadrunner from Bitcraze to investigate. There are also two firmware bugs related to this issue open now: https://github.com/bitcraze/crazyflie-firmware/issues/393 and https://github.com/bitcraze/crazyflie-firmware/issues/394.

[AlexisTM]

This definitely improved the behaviour. I disabled the Watchdog in the firmware and I do not remember having the TIMEOUT again after applying this patch.

The rest of the issue likely lies in Crazyflie Firmware.

[evoggy]

The issues bitcraze/crazyflie-firmware#393 and bitcraze/crazyflie-firmware#394 should now be fixed so hopefully this should also work now. Could someone give it a try and let me know if it's fixed?

[wydmynd]

I can confirm that it works. compiled using bitcraze VM updated to today. I had this trouble with CF 2.0 over USB for a long time. especially when connecting more than one at the same time.

[ashwinsushil]

Hello everyone, recently I tried to used the roadrunner to get the position from it using the crazyflie_ros package by running

roslaunch crazyflie_demo position.launch

with of course setting URI to usb://0.

Unfortunately, I have the same error terminate called after throwing an instance of 'std::runtime_error' │ what(): LIBUSB_ERROR_TIMEOUT │ [crazyflie_server-2] process has died [pid 11760, exit code -6, cmd /home/unmanned/Workspace/devel/lib│ /crazyflie_driver/crazyflie_server __name:=crazyflie_server __log:=/home/unmanned/.ros/log/5f32f6f6-01│ 43-11ea-8767-185e0f1c20e6/crazyflie_server-2.log]. │ log file: /home/unmanned/.ros/log/5f32f6f6-0143-11ea-8767-185e0f1c20e6/crazyflie_server-2*.log I tried disabling the watchdog timer as @AlexisTM mentioned, but it didn't help. @evoggy I don't really think this issued is fixed.

I am using the latest firmware from the master branch of bitcraze-firmware