When running sim_vehicle, Ubuntu 22.04, WSL2, Win10, all seems to work, except the connection to MAVLINK/MAVproxy. The map appears, the Mavlink window etc., but writing commands: mode guided etc. don't reach the vehicle. WSL has strange IP addresses and networking, the IPs use to change, I guess something is wrong there, but I can't fix it yet.
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --map --console
MAV> Connection reset or closed by peer on TCP socket
Attempting reconnect
[Errno 111] Connection refused sleeping
SIM_VEHICLE: Using defaults from (default_params/copter.parm,default_params/gazebo-iris.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: "/home/tosh/ardupilot/Tools/autotest/run_in_terminal_window.sh" "ArduCopter" "/home/tosh/ardupilot/build/sitl/bin/arducopter" "-S" "--model" "JSON" "--speedup" "1" "--slave" "0" "--defaults" "default_params/copter.parm,default_params/gazebo-iris.parm" "--sim-address=127.0.0.1" "-I0"
RiTW: Starting ArduCopter : /home/tosh/ardupilot/build/sitl/bin/arducopter -S --model JSON --speedup 1 --slave 0 --defaults default_params/copter.parm,default_params/gazebo-iris.parm --sim-address=127.0.0.1 -I0
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: "mavproxy.py" "--out" "172.27.208.1:14550" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--map" "--console"
Connect tcp:127.0.0.1:5760 source_system=255
[Errno 111] Connection refused sleeping
Loaded module console
Loaded module map
Log Directory:
Telemetry log: mav.tlog
Waiting for heartbeat from tcp:127.0.0.1:5760
MAV> SIM_VEHICLE: Keyboard Interrupt received ...
SIM_VEHICLE: Killing tasks
Connection reset or closed by peer on TCP socket
Attempting reconnect
While the ifconfig is:
ifconfig
eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 172.27.219.35 netmask 255.255.240.0 broadcast 172.27.223.255
inet6 fe80::215:5dff:fe09:b1c7 prefixlen 64 scopeid 0x20<link>
ether 00:15:5d:09:b1:c7 txqueuelen 1000 (Ethernet)
RX packets 2053 bytes 1209800 (1.2 MB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 1818 bytes 243494 (243.4 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
inet 127.0.0.1 netmask 255.0.0.0
inet6 ::1 prefixlen 128 scopeid 0x10<host>
loop txqueuelen 1000 (Local Loopback)
RX packets 509 bytes 35673 (35.6 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 509 bytes 35673 (35.6 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
cat /etc/resolv.conf
# This file was automatically generated by WSL. To stop automatic generation of this file, add the following entry to /etc/wsl.conf:
# [network]
# generateResolvConf = false
nameserver 172.27.208.1
nameserver 8.8.8.8
WSL generates that strange 172.27.208.1 as a DNS, I added the Google DNS otherwise it doesn't "see" domains.
SIM_VEHICLE: "mavproxy.py" "--out" "172.27.208.1:14550" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--map" "--console"
This seems to use that wrong address, but it doesn't read it from the file as changing the order of the IPs doesn't change the behavior.
sudo cat /etc/hosts
# This file was automatically generated by WSL. To stop automatic generation of this file, add the following entry to /etc/wsl.conf:
# [network]
# generateHosts = false
127.0.0.1 localhost
127.0.1.1 DESKTOP-LQSDBBS. DESKTOP-LQSDBBS
192.168.0.100 host.docker.internal
192.168.0.100 gateway.docker.internal
127.0.0.1 kubernetes.docker.internal
# The following lines are desirable for IPv6 capable hosts
::1 ip6-localhost ip6-loopback
fe00::0 ip6-localnet
ff00::0 ip6-mcastprefix
ff02::1 ip6-allnodes
ff02::2 ip6-allrouters
I can find the address 172.27.208.0"" below (fib_trie): but I don't know how to continue. Another strategy is to try to "hack" sim_vehicle.py, I just glanced it so far.
Can anyone hint me?
Thanks.
sudo cat /proc/net/fib_trie
Main:
+-- 0.0.0.0/0 3 0 5
|-- 0.0.0.0
/0 universe UNICAST
+-- 127.0.0.0/8 2 0 2
+-- 127.0.0.0/31 1 0 0
|-- 127.0.0.0
/8 host LOCAL
|-- 127.0.0.1
/32 host LOCAL
|-- 127.255.255.255
/32 link BROADCAST
+-- 172.27.208.0/20 2 0 1
|-- 172.27.208.0
/20 link UNICAST
|-- 172.27.219.35
/32 host LOCAL
|-- 172.27.223.255
/32 link BROADCAST
Local:
+-- 0.0.0.0/0 3 0 5
|-- 0.0.0.0
/0 universe UNICAST
+-- 127.0.0.0/8 2 0 2
+-- 127.0.0.0/31 1 0 0
|-- 127.0.0.0
/8 host LOCAL
|-- 127.0.0.1
/32 host LOCAL
|-- 127.255.255.255
/32 link BROADCAST
+-- 172.27.208.0/20 2 0 1
|-- 172.27.208.0
/20 link UNICAST
|-- 172.27.219.35
/32 host LOCAL
|-- 172.27.223.255
/32 link BROADCAST
UPDATE: I found where the IP comes from in sim_vehicle, there's a function which takes it from wsl for that purpose. Changing it to either the ifconfig IP or to 127.0.0.1 doesn't help. The IP in the output of a colleague on pure Linux is 127.0.0.1. Either way that's seems to be the "-out" address, so maybe it's not the reason anyway.
-iris.parm --sim-address=127.0.0.1 -I0
###DEBUG###
wsl2_host_ip:172.27.208.1
###CHANGED TO:###
:127.0.0.1
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: "mavproxy.py" "--out" "127.0.0.1:14550" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--map" "--console"
Connect tcp:127.0.0.1:5760 source_system=255
[Errno 111] Connection refused sleeping
[Errno 111] Connection refused sleeping
[Errno 111] Connection refused sleeping
def wsl2_host_ip():
if not under_wsl2():
return None
pipe = subprocess.Popen("ip route show default | awk '{print $3}'",
shell=True,
stdout=subprocess.PIPE)
output_lines = pipe.stdout.read().decode('utf-8').strip(' \r\n')
ret = pipe.wait()
if ret != 0:
# Command exited with an error. The output it generated probably isn't what we're expecting
return None
if not output_lines:
# No output detected, maybe there's no nameserver or WSL2 has some abnormal firewalls/network settings?
return None
print("###DEBUG###\nwsl2_host_ip:"+output_lines)
#output_lines = "172.27.219.35"
output_lines = "127.0.0.1"
print("###CHANGED TO:###\n:"+output_lines)
return str(output_lines)
enter code here
