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TDA4VM: Robotics SDK: The Nodes on TDA4VM and RVIZ running on Ubuntu machine not communicating.

Deepankar maithani
Intellectual 326 points
Part Number: TDA4VM

Hi

I followed the steps in the  link Docker Setup for ROS 2 — Robotics SDK Documentation. I can successfully run the demo using  ROS bag.

I successfully ran below two commands on TDA4VM in 2 different terminals

ros2 launch ti_sde rosbag_launch.py

ros2 launch ti_sde sde_launch.py

 

And on the Ubuntu machine

ros2 launch ti_viz_nodes rviz_sde_launch.py

But the rviz don't show any images.

Both the eval board and ubuntu machine are connected to same wifi router. When it din't work i investigate into the  ROS1 docker setup link there is an additional step

" update the following two lines in setup_env_pc.sh"

export J7_IP_ADDR=<J7_IP_address>

export PC_IP_ADDR=<PC_IP_address>

I also updated them. But no success.
There are some other peculiar things that i notice.

1. Internet over ethernet stopped working after installing docker. Now i can only use wifi on EVAL board for internet connection

2. The IP addresses that are listed on the TDA4VM for the wifi interface and the IP listed in my router config page are different. However I am able to ssh into TDA4VM using the IP shown in the routers  connected devices page. But this IP address is no where in the ifconfig output of tda4vm. Is the docker container doing some magic here ?

I can ssh into tda4vm board using  IP 192.168.88.249  which is shown in the router's interface. However see for IP address 192.168.43.1 the connection is refused. But  192.168.43.1 is the IP that i can see as assigned to wifi interface (See the first image above)

Any hints on what could be wrong here.

  • 0
    Intellectual 326 points

    Update:

    Below are the outputs of  terminal

    output of ros2 launch ti_sde rosbag_launch.py

    output of  ros2 launch ti_sde sde_launch.py

    Any hints on how can i fix it?

  • 0 in reply to Deepankar maithani
    TI__Mastermind 41783 points

    Hi Deepankar,

    The ifconfig command reporting the wrong IP address for the WiFi card is a known issue that we are currently trying to fix. The docker script may be taking in this wrong IP address and incorrectly setting the environment variables ROS_IP and ROS_MASTER_URI, which are standard ROS environment variables.

    1. Can you check if echoing ROS_IP on the board gives correct IP address of the board reported by router? And ROS_IP of the PC is the IP address of the PC?
    2. Can you also check if echoing ROS_MASTER_URI on both board and PC reports the same IP address?
    3. If the above is not true, before entering docker using our docker run script, please try running udhcpc -i wlp1s0. This should update IP address reported by ifconfig
    4. If environment variables are still wrong, please try manually exporting ROS_IP and ROS_MASTER_URI

    Let me know if this solves the issue.

    Regards,

    Takuma

  • 0 in reply to Takuma Fujiwara
    Intellectual 326 points

    I donot have any environment variable named  ROS_IP or ROS_MASTER_URI. See the image below. When i do echo $ROS and hit tab. I donot get ROS_IP or ROS_MASTER_URI in the list.

    however after running udhcpc -i wlp1s0 . Now the IP  address of wlp1s0 interface is same as shown by the router's configuration page. Look at the image below

    After fiddling around for some time i managed to see something on the Rviz running on the host. But only one feed available and that too is stuck.. Frame change is veryyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyy slow. There is no one else connected to this router only the eval board and host machine.

    I am running this demo

  • 0 in reply to Deepankar maithani
    TI__Mastermind 41783 points

    Hi Deepankar,

    We have seen that the throughput is very slow when using certain routers.

    The router we have used when testing these demos is Linksys EA7450 set for 5GHz band, with ethernet connected between PC and router, and WiFi between router and SK board.

    If you have a couple of routers or if you can connect everything via ethernet, please see if switching out the router or connection helps with throughput.

    Regards,

    Takuma

  • 0 in reply to Takuma Fujiwara
    Intellectual 326 points

    I have tried with Mikrotik RB941-2nd Hap  and TP-Link Archer. Both the Ubuntu machine as well as the  eval board  are connected using Ethernet. The throughput using both routers is very slow when using rosbag data and the demo mentioned above. However with mono usb camera  and semantic segmentation demo the throughput was good enough. However i had some errors running one of the demos with mono camera. Will update here once i get hold of the eval board tomorrow

  • 0 in reply to Deepankar maithani
    TI__Mastermind 41783 points

    Hi Deepankar,

    Yes, the rosbag version will also be slow when reading the data directly from SD card, due to the hardware limitations for how fast that particular SD card can read data.

    A NVME SSD card can be connected on the bottom side of the SK board through PCIe, and usually SSD will have a fast enough data transfer rate to allow the demo to run smoothly.

    Regards,

    Takuma