Rover on BeagleBoneBlue - does not connect to MissionPlanner

ArduRover
1

Hello,
I’m trying to get rover running on a BeagleBoneBlue following the quick start guide (BeagleBone Blue — Rover documentation). Unfortunately I can’t establish a connection with Mission Planner since the ardurover.service starts with a failure:

● ardurover.service - ArduRover Service
Loaded: loaded (/lib/systemd/system/ardurover.service; enabled; vendor preset: enabled)
Active: activating (auto-restart) (Result: exit-code) since Tue 2024-03-19 19:00:40 UTC; 89ms ago
Process: 1103 ExecStart=/usr/bin/ardupilot/ardurover -C /dev/ttyO1 -A udp:192.168.0.10:14550 -B /dev/tt Main PID: 1103 (code=exited, status=1/FAILURE)

I’m pretty new to Linux, so every help would be very much appreciated.

2

Hi @plambrec
First of all, your beagle is not running ardurover once there is a FAILURE status.
You need to check this one first - use
systemctl status ardurover.service
Second one I don’t know what is your network topology so, how are you connecting to your beagle ? using the usb port or in your wifi network?
If is your ground control a windows machine disable your firewall.

3

Hi @juvinski,
Thanks a lot for your fast reply, I really appreciate it!! The ardurover service is definitely not running.
‘systemctl status ardurover.service’ gives me:

ardurover.service - ArduRover Service
Loaded: loaded (/lib/systemd/system/ardurover.service; enabled; vendor preset: enabled)
Active: activating (auto-restart) (Result: exit-code) since Tue 2024-03-19 19:04:41 UTC; 1s ago
Process: 1296 ExecStart=/usr/bin/ardupilot/ardurover -C /dev/ttyO1 -A udp:192.168.0.10:14550 -B /dev/tt Main PID: 1296 (code=exited, status=1/FAILURE)

Mar 19 19:04:42 rover systemd[1]: ardurover.service: Service RestartSec=1s expired, scheduling restart.
Mar 19 19:04:42 rover systemd[1]: ardurover.service: Scheduled restart job, restart counter is at 264.
Mar 19 19:04:42 rover systemd[1]: Stopped ArduRover Service.
Mar 19 19:04:42 rover systemd[1]: Started ArduRover Service.
Mar 19 19:04:42 rover ardurover[1300]: /usr/bin/ardupilot/ardurover: /lib/arm-linux-gnueabihf/libc.so.6:
Mar 19 19:04:42 rover ardurover[1300]: /usr/bin/ardupilot/ardurover: /lib/arm-linux-gnueabihf/libc.so.6:
Mar 19 19:04:42 rover systemd[1]: ardurover.service: Main process exited, code=exited, status=1/FAILURE
Mar 19 19:04:42 rover systemd[1]: ardurover.service: Failed with result ‘exit-code’.

How to check what is preventing the service from running?

About the connection to the BeagleBone I’m using wifi.

4

First disable the ardurover service to run with stop or disable it.
Second I recommend run using command line like
/usr/bin/ardupilot/ardurover -C /dev/ttyO1 -A udp:192.168.0.10:14550

And check what is the error but for the cut you send I believe you downloaded ardurover from somewhere because what is appearing is a problem with libc (Mar 19 19:04:42 rover ardurover[1300]: /usr/bin/ardupilot/ardurover: /lib/arm-linux-gnueabihf/libc.so.6) but I need the complete line to check.

5

Here are the complete lines:

debian@rover:~$ sudo /usr/bin/ardupilot/ardurover -C /dev/ttyO1 -A udp:192.168.0.10:14550
sudo: unable to resolve host rover: Name or service not known
/usr/bin/ardupilot/ardurover: /lib/arm-linux-gnueabihf/libc.so.6: version GLIBC_2.33' not found (required by /usr/bin/ardupilot/ardurover) /usr/bin/ardupilot/ardurover: /lib/arm-linux-gnueabihf/libc.so.6: version GLIBC_2.32’ not found (required by /usr/bin/ardupilot/ardurover)

6

You are having trouble with libc, I recommend you to compile in the beagle itself.

1 Like
7

Pre-Compiled Ardupilot firmare requires GLIBC_2.33 . check your version ldd --version | grep libc

I had to compile Adupilot on my BBBlue itself beacuse of newer glibc version.

Run below commands on BBBlue, to compile ardupilot (GitHub - imfatant/test), It’ll take 3-4 hours :sweat_smile:

sudo apt-get install g++ make pkg-config python python-dev python-lxml python-pip
sudo pip install future
git clone https://github.com/ArduPilot/ardupilot
cd ardupilot
git branch -a  # <-- See all available branches.
git checkout Copter-3.6  # <-- Select one of the ArduCopter branches.(you can select Ardurover)
git submodule update --init --recursive
./waf configure --board=blue  # <-- BeagleBone Blue.
./waf
sudo cp ./build/blue/bin/a* /usr/bin/ardupilot/ardurover
sudo systemctl enable ardurover.service
sudo reboot;

Again, be sure to set their permissions.sudo chmod 0755 /usr/bin/ardupilot//ardurover/a*

8

These instructions is for 3.6 you can use 4 or even the master

9

First of all thanks a lot for the detailed information!! I got up to the point ‘./waf’ and get and got a message to install empy==3.3.4:

debian@beaglebone:~/ardupilot$ ./waf
Waf: Entering directory `/home/debian/ardupilot/build/blue’
you need to install empy with ‘python -m pip install empy==3.3.4’

After successful install of empy ==3.3.4 I get the following:

debian@beaglebone:~/ardupilot$ python -m pip install empy==3.3.4
Looking in indexes: Simple index, piwheels - Simple index
Requirement already satisfied: empy==3.3.4 in /home/debian/.local/lib/python2.7/site-packages (3.3.4)

debian@beaglebone:~/ardupilot$ ./waf
Waf: Entering directory `/home/debian/ardupilot/build/blue’
you need to install empy with ‘python -m pip install empy==3.3.4’

10

I dont remember if is python 2 or python 3. Have you tried to install on python3 ?
pip3 install empy==3.3.4

11

It worked with python3 and the build in the BBB was successful.

BUILD SUMMARY
Build directory: /home/debian/ardupilot/build/blue
Target Text (B) Data (B) BSS (B) Total Flash Used (B) Free Flash (B) External Flash Used (B)

bin/antennatracker 1268994 51396 58668 1320390 Not Applicable Not Applicable
bin/arducopter 1808856 82148 74440 1891004 Not Applicable Not Applicable
bin/arducopter-heli 1794632 83200 75272 1877832 Not Applicable Not Applicable
bin/arduplane 1799632 84132 73364 1883764 Not Applicable Not Applicable
bin/ardusub 1572580 67324 70032 1639904 Not Applicable Not Applicable
bin/blimp 1186740 49228 58832 1235968 Not Applicable Not Applicable
bin/ardurover 1626836 72424 74452 1699260 Not Applicable Not Applicable

Build commands will be stored in build/blue/compile_commands.json
‘build’ finished successfully (6h19m34.286s)

Nevertheless when starting the ardurover service it still does not work:

debian@beaglebone:~$ sudo systemctl status ardurover.service
● ardurover.service - ArduRover Service
Loaded: loaded (/lib/systemd/system/ardurover.service; enabled; vendor preset: enabled)
Active: activating (auto-restart) (Result: exit-code) since Mon 2024-03-25 03:08:30 UTC; 552m Process: 1344 ExecStart=/usr/bin/ardupilot/ardurover -C /dev/ttyO1 -A udp:192.168.0.10:14550 - Main PID: 1344 (code=exited, status=203/EXEC)

12

Have you copy the file ardurover under build/blue/bin to /usr/bin/ardupilot/ardurover ?

Try inside the folder (build/bin/ardurover I think) run manually the ardurover program with the parameters
./ardurover -C /dev/ttyO1 -A udp:192.168.0.10:14550

13

Yes, I copied ardurover to /usr/bin/ardupilot/ardurover.
I tried to run it manually as you suggested and it worked using superuser privileges.
How to start it at boot automatically?

14

If I not wrong, the systemct will run as root user.
Take a look at linux - Configuring Systemd Service to run with root access - Server Fault

15

Sorry for not answering sooner. By accident I dropped the BBB and the USB connector was ripped of the board, so I had to solder on a new one first.
I tried the instructions at the last link you’d posted, but ardurover still doesn’t want to start at boot. As well I tried the instructions at BBBMINI/doc/software/software.md at master · earsneyes/BBBMINI · GitHub, but no luck so far. The only way is to start it manually with ./ardurover -C /dev/ttyO1 -A udp:192.168.0.10:14550. Any idea what I could try next? Thanks a lot!

16

Hi,

what is the return of the
systemctl status <service_name.service>
? have you checked the dmesg to see a problem?
When you try systemctl start <service_name.service> the ardurover start ?