Camera Commands Infinite loop with gazebo sitl with typhoon model

[dsurver]

Hi,
I am trying to run the camera+gimbal with the gazebo sitl (px4 1.15.0) with mavsdk-python (mavsdk 2.12.11). When I run the camera.py example while manually running the mavsdk_server, I get the following logs from mavsdk_server. On the Mavsdk-python side i get timeout messages. The gimbal.py example runs fine without any problem.

Does this mean that the SITL with Typhoon model does not have camera server side implementation? Or am i missing something. I would like to test as much camera plugin with sitl mode as possible. Are there any alternatives for this? Thanks!

[10:30:48|Info ] MAVSDK version: v2.12.11 (mavsdk_impl.cpp:26)
[10:30:48|Debug] Command debugging is on. (mavlink_command_receiver.cpp:26)
[10:30:48|Info ] New system on: 127.0.0.1:54247 (with system ID: 1) (udp_connection.cpp:178)
[10:30:48|Debug] New system ID: 1 Comp ID: 1 (mavsdk_impl.cpp:750)
[10:30:48|Debug] Command debugging is on. (mavlink_command_sender.cpp:15)
[10:30:48|Debug] Component Autopilot (1) added. (system_impl.cpp:366)
[10:30:48|Debug] Component Gimbal (154) added. (system_impl.cpp:366)
[10:30:48|Info ] System discovered (connection_initiator.h:39)
[10:30:48|Info ] Server started (grpc_server.cpp:169)
[10:30:48|Info ] Server set to listen on 0.0.0.0:50051 (grpc_server.cpp:170)
[10:30:49|Warn ] Vehicle type changed (new type: 13, old type: 0) (system_impl.cpp:217)
[10:30:49|Debug] Discovered 2 component(s) (system_impl.cpp:509)
[10:30:49|Debug] COMMAND_LONG 520 to send to 1, 1 (mavlink_command_sender.cpp:112)
[10:30:49|Debug] MAVLink: info: Connection to ground station lost        (system_impl.cpp:243)
[10:30:49|Debug] Sent command 520 (mavlink_command_sender.cpp:407)
[10:30:49|Debug] Received command ack for 520 with result 0 after 0.00235067 s (mavlink_command_sender.cpp:185)
[10:30:49|Debug] MAVLink: critical: Preflight Fail: vertical velocity unstable (system_impl.cpp:243)
[10:30:49|Debug] MAVLink: info: GCS connection regained  (system_impl.cpp:243)
[10:30:49|Debug] MAVLink: critical: Preflight Fail: vertical velocity unstable (system_impl.cpp:243)
[10:31:41|Debug] MAVLink: critical: Preflight Fail: height estimate not stable (system_impl.cpp:243)
[10:31:50|Error] notify_current_settings has no camera definition (camera_impl.cpp:2149)
[10:31:50|Error] notify_possible_setting_options has no camera definition (camera_impl.cpp:2192)
[10:31:50|Debug] COMMAND_LONG 522 to send to 1, 100 (mavlink_command_sender.cpp:112)
[10:31:50|Debug] Sent command 522 (mavlink_command_sender.cpp:407)
[10:31:50|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 0.001559 s (mavlink_command_sender.cpp:172)
[10:31:50|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:31:50|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:31:50|Warn ] sending again after 0.508127 s, retries to do: 3  (522). (mavlink_command_sender.cpp:320)
[10:31:50|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 0.511235 s (mavlink_command_sender.cpp:172)
[10:31:50|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:31:51|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:31:51|Warn ] sending again after 1.00886 s, retries to do: 2  (522). (mavlink_command_sender.cpp:320)
[10:31:51|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 1.01229 s (mavlink_command_sender.cpp:172)
[10:31:51|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:31:51|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:31:51|Warn ] sending again after 1.51331 s, retries to do: 1  (522). (mavlink_command_sender.cpp:320)
[10:31:51|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 1.51555 s (mavlink_command_sender.cpp:172)
[10:31:51|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:31:52|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:31:52|Error] Retrying failed (522) (mavlink_command_sender.cpp:346)
[10:31:55|Debug] COMMAND_LONG 522 to send to 1, 100 (mavlink_command_sender.cpp:112)
[10:31:55|Debug] Sent command 522 (mavlink_command_sender.cpp:407)
[10:31:55|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 0.00203983 s (mavlink_command_sender.cpp:172)
[10:31:55|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:31:55|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:31:55|Warn ] sending again after 0.510594 s, retries to do: 3  (522). (mavlink_command_sender.cpp:320)
[10:31:55|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 0.512605 s (mavlink_command_sender.cpp:172)
[10:31:55|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:31:56|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:31:56|Warn ] sending again after 1.01595 s, retries to do: 2  (522). (mavlink_command_sender.cpp:320)
[10:31:56|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 1.02022 s (mavlink_command_sender.cpp:172)
[10:31:56|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:31:56|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:31:56|Warn ] sending again after 1.51854 s, retries to do: 1  (522). (mavlink_command_sender.cpp:320)
[10:31:56|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 1.52286 s (mavlink_command_sender.cpp:172)
[10:31:56|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:31:57|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:31:57|Error] Retrying failed (522) (mavlink_command_sender.cpp:346)
[10:32:00|Debug] COMMAND_LONG 522 to send to 1, 100 (mavlink_command_sender.cpp:112)
[10:32:00|Debug] Sent command 522 (mavlink_command_sender.cpp:407)
[10:32:00|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 0.00317863 s (mavlink_command_sender.cpp:172)
[10:32:00|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:32:00|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:32:00|Warn ] sending again after 0.500759 s, retries to do: 3  (522). (mavlink_command_sender.cpp:320)
[10:32:00|Debug] Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100) after 0.504278 s (mavlink_command_sender.cpp:172)
[10:32:00|Debug] Received ack from 1/1 for not-existing command: 522! Ignoring... (mavlink_command_sender.cpp:283)
[10:32:01|Debug] Got timeout! (mavlink_command_sender.cpp:296)
[10:32:01|Warn ] sending again after 1.01029 s, retries to do: 2  (522). (mavlink_command_sender.cpp:320)

[JonasVautherin]

Does this mean that the SITL with Typhoon model does not have camera server side implementation?

I believe this is correct. At least I know that https://github.com/JonasVautherin/px4-gazebo-headless does not have a camera implementation 👍.

[dsurver]

Ah, then I know why it does not work. But why does the server go into an infinite loop?

Does this line mean something to debug this problem? Is 1/100 sysid/comp id for the supposed camera component?

Command ack for 522 (from: 1/1) does not match command 522 (to: 1/100)

The command should just fail right?

[dsurver]

Also, the typhoon_480 model used in https://github.com/JonasVautherin/px4-gazebo-headless does have a camera_manager_plugin attached to it, so why does it not work with mavsdk_server commands?

CameraManager Typhoon_480