Bebop2 experiments with parrot sphinx within a container

Bebop2 sphinx in docker container

sh15:fix_jer$ make run-bebop2
#sudo xhost +
docker run -it --rm --privileged --runtime=nvidia \
        --env="DISPLAY" \
        --env="QT_X11_NO_MITSHM=1" \
        --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
        --network host                                \
        -e NVIDIA_PATH=/usr/lib/nvidia-410                 \
        -v /usr/lib/nvidia-410:/usr/lib/nvidia-410:ro           \
        -v /tmp:/tmp                            \
        -v /lib/modules:/lib/modules                  \
        -t nvidia-parrot-sphinx                       \
        /run.sh /opt/parrot-sphinx/usr/share/sphinx/worlds/outdoor_1.world /opt/parrot-sphinx/usr/share/sphinx/drones/bebop2.drone::stolen_interface=::with_front_cam=false 
===> Starting sphinx_server
I firmwared_main: firmwared[12] starting
E firmwared_main: initial_cleanup_files scandir: No such file or directory
I firmwared_firmwares: indexing firmwares from folder '/usr/share/firmwared/firmwares/'
I firmwared_firmwares: done indexing firmwares
Parrot-Sphinx simulator version 1.2.1

connecting to firmwared version: 1.2.1
Gazebo multi-robot simulator, version 7.0.1
Copyright (C) 2012-2015 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 127.0.0.1
[Wrn] [ColladaLoader.cc:1763] Triangle input semantic: 'TEXCOORD' is currently not supported
[Wrn] [ColladaLoader.cc:1763] Triangle input semantic: 'TEXCOORD' is currently not supported
[Wrn] [ColladaLoader.cc:1763] Triangle input semantic: 'TEXCOORD' is currently not supported
[Wrn] [ColladaLoader.cc:1763] Triangle input semantic: 'TEXCOORD' is currently not supported
[Wrn] [ColladaLoader.cc:1763] Triangle input semantic: 'TEXCOORD' is currently not supported
[Wrn] [ColladaLoader.cc:1763] Triangle input semantic: 'TEXCOORD' is currently not supported
[Msg] created parameter server on http:8383
[Msg] connected to firmwared
[Msg] Preparation of firmware http://plf.parrot.com/sphinx/firmwares/ardrone3/milos_pc/latest/images/ardrone3-milos_pc.ext2.zip
I shd: wind: created: generation=2 sample_count=4000 sample_size=24 sample_rate=1000 metadata_size=125
W firmwared_log: ls: cannot access '/usr/share/firmwared/firmwares//*.firmware': No such file or directory
W firmwared_log: stat: cannot stat '/usr/share/firmwared/firmwares//ardrone3-milos_pc.ext2.zip.a3223a5b-4bd8-9583-54ad-cb89d0a34087.firmware': No such file or directory
[Msg] preparation of firmwares http://plf.parrot.com/sphinx/firmwares/ardrone3/milos_pc/latest/images/ardrone3-milos_pc.ext2.zip is at 18%
[Msg] preparation of firmwares http://plf.parrot.com/sphinx/firmwares/ardrone3/milos_pc/latest/images/ardrone3-milos_pc.ext2.zip is at 86%
[Msg] preparation of firmwares http://plf.parrot.com/sphinx/firmwares/ardrone3/milos_pc/latest/images/ardrone3-milos_pc.ext2.zip is at 100%
[Msg] firmware /usr/share/firmwared/firmwares//ardrone3-milos_pc.ext2.zip.a3223a5b-4bd8-9583-54ad-cb89d0a34087.firmware supported hardwares: 
[Msg]   milosboard
I firmwared_instances: init_command_line: ro_boot_console = ro.boot.console=
I firmwared_instances: OUTER_PTS is /dev/pts/1
I firmwared_instances: INNER_PTS is /dev/pts/2
I apparmor_config: apparmor_load_profile(cb4ac2adb4d17dcc9953221ba7c3e538c93ba3d7)
[Msg] Selected params to build .sdf file for bebop2:
        param flir_pos = tilted
        param kalamos_clip_far = 35
        param kalamos_clip_near = 1.5
        param low_gpu = 0
        param with_flir = 0
        param with_front_cam = 0
        param with_hd_battery = 0
        param with_kalamos = false
[Wrn] [BaseCameraSensor.cc:277] vertical_camera: parameter 'num_buffers' is now deprecated.
I shd: omniscient_bebop2: created: generation=2 sample_count=4000 sample_size=192 sample_rate=1000 metadata_size=1125
I shd: time_bebop2: created: generation=2 sample_count=4000 sample_size=24 sample_rate=1000 metadata_size=128
I shd: battery_bebop2: created: generation=2 sample_count=4000 sample_size=8 sample_rate=1000 metadata_size=48
I shd: gps_bebop2: created: generation=2 sample_count=4000 sample_size=48 sample_rate=1000 metadata_size=245
[Msg] Drone bebop2[cb4ac2adb4d17dcc9953221ba7c3e538c93ba3d7] loaded
[Msg] WEB DASHBOARD IS ACCESSIBLE at http://localhost:9002
I firmwared_instances: launch_instance "/usr/share/firmwared/firmwares//ardrone3-milos_pc.ext2.zip.a3223a5b-4bd8-9583-54ad-cb89d0a34087.firmware"
I firmwared_instances: launch_pid_1
[Msg] Instance risible_bellatrix[cb4ac2adb4d17dcc9953221ba7c3e538c93ba3d7] started
[Msg] All drones instantiated
 pomp: recvmsg(fd=59) err=104(Connection reset by peer)
31m[Err] [Socket.cc:174] Socket 60 hung up
[Err] [E pomp: recvmsg(fd=59) err=104(Connection reset by peer)
Socket.cc:174] Socket 60 hung up
 pomp: recvmsg(fd=59) err=104(Connection reset by peer)
31m[Socket.cc:174] Socket 60 hung u

gz stats

sh15:fix_jer$ docker exec -it sleepy_benz /bin/bash                                                                      
root@sh15:/# gz stats
Factor[0.99] SimTime[42.73] RealTime[48.38] Paused[F]
Factor[0.99] SimTime[42.93] RealTime[48.58] Paused[F]
Factor[0.99] SimTime[43.13] RealTime[48.78] Paused[F]
Factor[1.00] SimTime[43.34] RealTime[48.98] Paused[F]
Factor[1.00] SimTime[43.53] RealTime[49.18] Paused[F]

root@sh15:/# gz topic -l | grep bebop2
/gazebo/default/bebop2/body/ultrasound/scan
/gazebo/default/bebop2/body/vertical_camera/image
/gazebo/default/bebop2/body/wrench
/gazebo/default/default/bebop2/body/contacts
/gazebo/default/omniscient_bebop2/contacts