Hello,
Thank you for your help and suggestion.
Maybe i should mention that the VM and the "bare metal" Test are two different hosts.
VM runs on a Windows 7 64-bit host with VMware Player 14. VM is the Bitcraze VM (Xubuntu) upgraded to 16.04 LTS. ROS was upgraded to Kinetic also.
Bare-Metal is a Ubuntu 16.04 LTS with ROS Kinetic
cfclient and all firmware (LPS Nodes, Crazyflie, Crazyradio) is up to date.
Let me say that we are 2 Students relatively new to Linux. So maybe it is a problem with the Linux Host system too.
Following extracted from console at Bare-Metal machine with root privileges...
ROS throws the following error message:
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[ERROR] [1519917445.314396970]: Exception thrown while processing service call: No matching USB Device with devid = 0 found!
[ERROR] [1519917445.352656081]: Service call failed: service [/add_crazyflie] responded with an error: No matching USB Device with devid = 0 found!
ROS:
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... logging to /root/.ros/log/f07f1e14-1d65-11e8-9e65-90fba695ba33/roslaunch-cps-lab-01-8755.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://cps-lab-01:40159/
SUMMARY
========
PARAMETERS
* /crazyflie/anchor0_pos: [3.5, 0.15, 0.16]
* /crazyflie/anchor1_pos: [0.15, 0.15, 0.16]
* /crazyflie/anchor2_pos: [1.675, 3.195, 0.16]
* /crazyflie/anchor3_pos: [1.965, 0.155, 2....
* /crazyflie/anchor4_pos: [0.17, 3.19, 2.125]
* /crazyflie/anchor5_pos: [3.565, 3.195, 2....
* /crazyflie/crazyflie_add/genericLogTopicFrequencies: [30, 30, 30]
* /crazyflie/crazyflie_add/genericLogTopic_log_kfpos_Variables: ['kalman.stateX',...
* /crazyflie/crazyflie_add/genericLogTopic_log_kfqt_Variables: ['kalman.q0', 'ka...
* /crazyflie/crazyflie_add/genericLogTopic_log_ranges_Variables: ['ranging.distanc...
* /crazyflie/crazyflie_add/genericLogTopics: ['log_kfpos', 'lo...
* /crazyflie/crazyflie_add/tf_prefix: crazyflie
* /crazyflie/crazyflie_add/uri: radio//0/90/2M
* /crazyflie/joy/dev: /dev/input/js0
* /crazyflie/joystick_controller/use_crazyflie_controller: True
* /crazyflie/n_anchors: 6
* /crazyflie/pose/name: goal
* /crazyflie/pose/rate: 30
* /crazyflie/pose/x: 2.0
* /crazyflie/pose/y: 2.0
* /crazyflie/pose/z: 1.7
* /robot_description: <?xml version="1....
* /rosdistro: kinetic
* /rosversion: 1.12.12
NODES
/crazyflie/
controller_bridge (bitcraze_lps_estimator/crazyflie_controller_bridge.py)
crazyflie_add (crazyflie_driver/crazyflie_add)
joy (joy/joy_node)
joystick_controller (crazyflie_demo/controller.py)
log_range (bitcraze_lps_estimator/log_range.py)
lps_efk_bridge (bitcraze_lps_estimator/lps_ekf_bridge.py)
lps_viz (bitcraze_lps_estimator/lps_viz.py)
pose (crazyflie_demo/publish_pose_teleop.py)
/
crazyflie_server (crazyflie_driver/crazyflie_server)
link1_broadcaster (tf/static_transform_publisher)
rviz (rviz/rviz)
auto-starting new master
process[master]: started with pid [8768]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to f07f1e14-1d65-11e8-9e65-90fba695ba33
process[rosout-1]: started with pid [8781]
started core service [/rosout]
process[rviz-2]: started with pid [8798]
process[crazyflie/crazyflie_add-3]: started with pid [8799]
process[crazyflie/joy-4]: started with pid [8800]
process[crazyflie/joystick_controller-5]: started with pid [8808]
process[crazyflie/controller_bridge-6]: started with pid [8820]
process[crazyflie/pose-7]: started with pid [8827]
process[crazyflie/lps_efk_bridge-8]: started with pid [8830]
/root/catkin_ws/src/crazyflie_ros/crazyflie_demo/scripts/publish_pose_teleop.py:46: SyntaxWarning: name 'lastData' is assigned to before global declaration
global lastData
process[crazyflie/lps_viz-9]: started with pid [8836]
[ INFO] [1519918430.808241887]: wait_for_service /add_crazyflie
process[crazyflie/log_range-10]: started with pid [8847]
[ INFO] [1519918430.813647634]: waitForService: Service [/add_crazyflie] has not been advertised, waiting...
process[link1_broadcaster-11]: started with pid [8849]
process[crazyflie_server-12]: started with pid [8857]
[ INFO] [1519918430.867193648]: Opened joystick: /dev/input/js0. deadzone_: 0.050000.
[ INFO] [1519918430.916112377]: waitForService: Service [/add_crazyflie] is now available.
[ INFO] [1519918430.916188013]: found /add_crazyflie
[ INFO] [1519918430.947871884]: Adding radio//0/90/2M as crazyflie with trim(0.000000, 0.000000). Logging: 1, Parameters: 1, Use ROS time: 1
[ERROR] [1519918430.965234561]: Exception thrown while processing service call: No matching USB Device with devid = 0 found!
[ERROR] [1519918431.005783078]: Service call failed: service [/add_crazyflie] responded with an error: No matching USB Device with devid = 0 found!
[crazyflie/crazyflie_add-3] process has finished cleanly
log file: /root/.ros/log/f07f1e14-1d65-11e8-9e65-90fba695ba33/crazyflie-crazyflie_add-3*.log
0x2b269e0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2121ef0) ): Attempt to set a screen on a child window.
0x2b1f0a0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2121ef0) ): Attempt to set a screen on a child window.
0x2b1e720 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2121ef0) ): Attempt to set a screen on a child window.
0x2b1ce20 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0x2121ef0) ): Attempt to set a screen on a child window.
cfclient:
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INFO:cfclient.gui:Disabling STL printouts
INFO:cfclient.utils.input.inputreaders:Input readers: ['linuxjsdev', 'pysdl2']
INFO:cfclient.utils.input.inputreaders:Successfully initialized [linuxjsdev]
INFO:cfclient.utils.input.inputreaders:Could not initialize [pysdl2]: No SDL2 support on Linux
INFO:cfclient.utils.input.inputinterfaces:Found interfaces: ['leapmotion', 'wiimote', 'zmqpull']
INFO:cfclient.utils.input.inputinterfaces:Could not initialize [leapmotion]: Leap Motion library probably not installed (No module named 'leapsdk')
INFO:cfclient.utils.input.inputinterfaces:Could not initialize [wiimote]: Missing cwiid (wiimote) driver No module named 'cwiid'
INFO:cfclient.utils.config:Dist config read from /root/bitcraze/crazyflie-clients-python/src/cfclient/configs/config.json
INFO:cfclient.utils.config:Config file read from [/root/.config/cfclient/config.json]
INFO:cfclient.utils.input.inputinterfaces:Could not initialize [zmqpull]: ZMQ input disabled in config file
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
INFO:cfclient.utils.zmq_param:Biding ZMQ for parameters at tcp://*:1213
INFO:cfclient.utils.zmq_led_driver:Biding ZMQ for LED driverat tcp://*:1214
INFO:cfclient.utils.input:Using device blacklist [(VirtualBox|VMware)]
INFO:cflib.crtp.radiodriver:v0.53 dongle with serial N/A found
===== 2018.03.01 16:03:20 =====
Traceback (most recent call last):
File "/root/bitcraze/crazyflie-clients-python/src/cfclient/ui/main.py", line 836, in scan
self.interfaceFoundSignal.emit(cflib.crtp.scan_interfaces(address))
File "/root/bitcraze/crazyflie-lib-python/cflib/crtp/__init__.py", line 65, in scan_interfaces
found = instance.scan_interface(address)
File "/root/bitcraze/crazyflie-lib-python/cflib/crtp/radiodriver.py", line 349, in scan_interface
for c in self._scan_radio_channels(cradio)]
File "/root/bitcraze/crazyflie-lib-python/cflib/crtp/radiodriver.py", line 280, in _scan_radio_channels
return list(cradio.scan_channels(start, stop, (0xff,)))
File "/root/bitcraze/crazyflie-lib-python/cflib/drivers/crazyradio.py", line 262, in scan_channels
self.set_channel(i)
File "/root/bitcraze/crazyflie-lib-python/cflib/drivers/crazyradio.py", line 174, in set_channel
_send_vendor_setup(self.handle, SET_RADIO_CHANNEL, channel, 0, ())
File "/root/bitcraze/crazyflie-lib-python/cflib/drivers/crazyradio.py", line 302, in _send_vendor_setup
wIndex=index, timeout=1000, data_or_wLength=data)
File "/usr/local/lib/python3.5/dist-packages/usb/core.py", line 971, in ctrl_transfer
self.__get_timeout(timeout))
File "/usr/local/lib/python3.5/dist-packages/usb/backend/libusb1.py", line 819, in ctrl_transfer
timeout))
File "/usr/local/lib/python3.5/dist-packages/usb/backend/libusb1.py", line 552, in _check
raise USBError(_strerror(ret), ret, _libusb_errno[ret])
usb.core.USBError: [Errno 32] Pipe error
INFO:cfclient.utils.input:Selected MUX: Normal
INFO:cfclient.ui.main:Role of Microsoft X-Box 360 pad is Device
INFO:cfclient.utils.input.mux:Adding device Microsoft X-Box 360 pad to MUX Normal
LSUSB shows the follwing:
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Bus 002 Device 010: ID 1915:7777 Nordic Semiconductor ASA
Bus 002 Device 007: ID 045e:028e Microsoft Corp. Xbox360 Controller
Bus 002 Device 002: ID 8087:0020 Intel Corp. Integrated Rate Matching Hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 004: ID 046d:c050 Logitech, Inc. RX 250 Optical Mouse
Bus 001 Device 003: ID 04f2:0112 Chicony Electronics Co., Ltd KU-8933 Keyboard with PS/2 Mouse port
Bus 001 Device 002: ID 8087:0020 Intel Corp. Integrated Rate Matching Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
dmesg:
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[ 35.283628] usb 2-1.1: Product: Crazyradio PA USB Dongle
[ 35.283629] usb 2-1.1: Manufacturer: Bitcraze
[ 35.283630] usb 2-1.1: SerialNumber: 138ADF2151
[ 86.511133] usb 2-1.1: USB disconnect, device number 3
[ 86.733457] usb 2-1.1: new full-speed USB device number 4 using ehci-pci
[ 86.845245] usb 2-1.1: New USB device found, idVendor=1915, idProduct=7777
[ 86.845248] usb 2-1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=29
[ 86.845249] usb 2-1.1: Product: Crazyradio PA USB Dongle
[ 86.845250] usb 2-1.1: Manufacturer: Bitcraze
[ 86.845251] usb 2-1.1: SerialNumber: 138ADF2151
[ 106.672775] perf: interrupt took too long (2511 > 2500), lowering kernel.perf_event_max_sample_rate to 79500
[ 107.469762] usb 2-1.2: new full-speed USB device number 5 using ehci-pci
[ 107.583469] usb 2-1.2: New USB device found, idVendor=045e, idProduct=028e
[ 107.583471] usb 2-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 107.583472] usb 2-1.2: Product: Controller
[ 107.583473] usb 2-1.2: Manufacturer: ©Microsoft Corporation
[ 107.583474] usb 2-1.2: SerialNumber: 1015F9F
[ 108.610912] input: Microsoft X-Box 360 pad as /devices/pci0000:00/0000:00:1d.0/usb2/2-1/2-1.2/2-1.2:1.0/input/input15
[ 108.611196] usbcore: registered new interface driver xpad
[ 122.095149] usb 2-1.1: USB disconnect, device number 4
[ 122.317840] usb 2-1.1: new full-speed USB device number 6 using ehci-pci
[ 122.429506] usb 2-1.1: New USB device found, idVendor=1915, idProduct=7777
[ 122.429509] usb 2-1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=29
[ 122.429510] usb 2-1.1: Product: Crazyradio PA USB Dongle
[ 122.429511] usb 2-1.1: Manufacturer: Bitcraze
[ 122.429512] usb 2-1.1: SerialNumber: 138ADF2151
[ 194.543172] usb 2-1.1: USB disconnect, device number 6
[ 195.311174] usb 2-1.2: USB disconnect, device number 5
[ 195.313357] xpad 2-1.2:1.0: xpad_try_sending_next_out_packet - usb_submit_urb failed with result -19
[ 196.773317] usb 2-1.1: new full-speed USB device number 7 using ehci-pci
[ 196.887127] usb 2-1.1: New USB device found, idVendor=045e, idProduct=028e
[ 196.887130] usb 2-1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 196.887132] usb 2-1.1: Product: Controller
[ 196.887133] usb 2-1.1: Manufacturer: ©Microsoft Corporation
[ 196.887134] usb 2-1.1: SerialNumber: 1015F9F
[ 196.887892] input: Microsoft X-Box 360 pad as /devices/pci0000:00/0000:00:1d.0/usb2/2-1/2-1.1/2-1.1:1.0/input/input16
[ 199.065377] usb 2-1.2: new full-speed USB device number 8 using ehci-pci
[ 199.176754] usb 2-1.2: New USB device found, idVendor=1915, idProduct=7777
[ 199.176757] usb 2-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=29
[ 199.176759] usb 2-1.2: Product: Crazyradio PA USB Dongle
[ 199.176760] usb 2-1.2: Manufacturer: Bitcraze
[ 199.176761] usb 2-1.2: SerialNumber: 138ADF2151
[ 212.372249] perf: interrupt took too long (3141 > 3138), lowering kernel.perf_event_max_sample_rate to 63500
[ 219.835801] usb 2-1.2: USB disconnect, device number 8
[ 223.641850] usb 2-1.2: new full-speed USB device number 9 using ehci-pci
[ 223.753659] usb 2-1.2: New USB device found, idVendor=1915, idProduct=7777
[ 223.753662] usb 2-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=29
[ 223.753664] usb 2-1.2: Product: Crazyradio PA USB Dongle
[ 223.753665] usb 2-1.2: Manufacturer: Bitcraze
[ 223.753666] usb 2-1.2: SerialNumber: 138ADF2151
[
[ 668.996042] perf: interrupt took too long (3931 > 3926), lowering kernel.perf_event_max_sample_rate to 50750
[ 711.868084] usb 2-1.2: USB disconnect, device number 9
[ 802.714728] usb 2-1.2: new full-speed USB device number 10 using ehci-pci
[ 802.826285] usb 2-1.2: New USB device found, idVendor=1915, idProduct=7777
[ 802.826290] usb 2-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=29
[ 802.826293] usb 2-1.2: Product: Crazyradio PA USB Dongle
[ 802.826296] usb 2-1.2: Manufacturer: Bitcraze
[ 802.826298] usb 2-1.2: SerialNumber: 138ADF2151
[ 1401.097542] usb 2-1.2: Product: Crazyradio PA USB Dongle
[ 1401.097544] usb 2-1.2: Manufacturer: Bitcraze
[ 1401.097546] usb 2-1.2: SerialNumber: 138ADF2151
[ 1407.162662] [drm:intel_cpu_fifo_underrun_irq_handler [i915]] *ERROR* CPU pipe A FIFO underrun
[ 1407.162783] [drm:intel_pch_fifo_underrun_irq_handler [i915]] *ERROR* PCH transcoder A FIFO underrun
[ 1728.188981] usb 2-1.2: USB disconnect, device number 11
[ 1728.410292] usb 2-1.2: new full-speed USB device number 12 using ehci-pci
[ 1728.521649] usb 2-1.2: New USB device found, idVendor=1915, idProduct=7777
[ 1728.521653] usb 2-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=29
[ 1728.521656] usb 2-1.2: Product: Crazyradio PA USB Dongle
[ 1728.521659] usb 2-1.2: Manufacturer: Bitcraze
[ 1728.521661] usb 2-1.2: SerialNumber: 138ADF2151
[ 1795.516380] usb 2-1.2: USB disconnect, device number 12
[ 1795.740661] usb 2-1.2: new full-speed USB device number 13 using ehci-pci
[ 1795.852505] usb 2-1.2: New USB device found, idVendor=1915, idProduct=7777
[ 1795.852508] usb 2-1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=29
[ 1795.852510] usb 2-1.2: Product: Crazyradio PA USB Dongle
[ 1795.852511] usb 2-1.2: Manufacturer: Bitcraze
[ 1795.852512] usb 2-1.2: SerialNumber: 138ADF2151
We couldnt figure out what causes the error.
Next step is possible a reinstall of the environment. We will test with a new downloaded Bitcraze VM without any adjustments this sunday.
But still i think it is strange that this error happens @ Bare-Metal machine and Bitcraze VM.
For me it looks like we have bad luck and are the first ones to broke the crazyradio
Thank you for your answer.
Greetings
Lama