"docker run" generated "invalid partner ip 'fdc4:f303:9324::254' " error

[ytl001]

This looks similar to #34, but that error seemed to have disappeared mysteriously without any specific action.

px4 did come up at the end, but a running instance of QGroundControl (on the host machine) did not connect. I should be running QGroundControl outside docker, correct?

MacOS Ventura 13.7.2
docker:
Desktop 4.37.1
Engine 27.4.0
Compose v2.31.0-desktop.2
Kubernetes: v1.30.5
Credential Helper: v0.8.2

Yings-iMac:~ ytl$ docker run --rm -it jonasvautherin/px4-gazebo-headless
Scanning dependencies of target gazebo_iris__empty
WARNING gazebo_iris__empty target DEPRECATED, please use gazebo-classic_iris__empty
make[5]: warning: jobserver unavailable: using -j1. Add '+' to parent make rule.
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Scanning dependencies of target gazebo-classic_iris__empty
SITL ARGS
sitl_bin: /root/Firmware/build/px4_sitl_default/bin/px4
debugger: none
model: iris
world: empty
src_path: /root/Firmware
build_path: /root/Firmware/build/px4_sitl_default
GAZEBO_PLUGIN_PATH :/root/Firmware/build/px4_sitl_default/build_gazebo-classic
GAZEBO_MODEL_PATH :/root/Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
LD_LIBRARY_PATH :/root/Firmware/build/px4_sitl_default/build_gazebo-classic
Using: /root/Firmware/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf
ALSA lib confmisc.c:767:(parse_card) cannot find card '0'
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
ALSA lib confmisc.c:1246:(snd_func_refer) error evaluating name
ALSA lib conf.c:4528:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
ALSA lib conf.c:5007:(snd_config_expand) Evaluate error: No such file or directory
ALSA lib pcm.c:2495:(snd_pcm_open_noupdate) Unknown PCM default
AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory
not running gazebo gui
SITL COMMAND: "/root/Firmware/build/px4_sitl_default/bin/px4" "/root/Firmware/build/px4_sitl_default"/etc

---

| ___ \ \ \ / / / |
| |/ / \ V / / /| |
| __/ / \ / /| |
| | / /^\ \ ___ |
_| / / |_/

px4 starting.

INFO [px4] startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [init] found model autostart file as SYS_AUTOSTART=10015
INFO [param] selected parameter default file parameters.bson
INFO [param] selected parameter backup file parameters_backup.bson
SYS_AUTOCONFIG: curr: 0 -> new: 1
ERROR [param] Parameter UXRCE_DDS_KEY not found.
SYS_AUTOSTART: curr: 0 -> new: 10015
CAL_ACC0_ID: curr: 0 -> new: 1310988
CAL_GYRO0_ID: curr: 0 -> new: 1310988
CAL_ACC1_ID: curr: 0 -> new: 1310996
CAL_GYRO1_ID: curr: 0 -> new: 1310996
CAL_ACC2_ID: curr: 0 -> new: 1311004
CAL_GYRO2_ID: curr: 0 -> new: 1311004
CAL_MAG0_ID: curr: 0 -> new: 197388
CAL_MAG0_PRIO: curr: -1 -> new: 50
CAL_MAG1_ID: curr: 0 -> new: 197644
CAL_MAG1_PRIO: curr: -1 -> new: 50
SENS_BOARD_X_OFF: curr: 0.0000 -> new: 0.0000
SENS_DPRES_OFF: curr: 0.0000 -> new: 0.0010
INFO [dataman] data manager file './dataman' size is 7872608 bytes
INFO [init] PX4_SIM_HOSTNAME: localhost
INFO [simulator_mavlink] Waiting for simulator to accept connection on TCP port 4560
INFO [simulator_mavlink] Simulator connected on TCP port 4560.
INFO [lockstep_scheduler] setting initial absolute time to 436000 us
WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 1310988
INFO [commander] LED: open /dev/led0 failed (22)
ERROR [param] Parameter UXRCE_DDS_DOM_ID not found.
etc/init.d-posix/rcS: 310: etc/init.d-posix/rcS: uxrce_dds_client: not found
ERROR [mavlink] invalid partner ip 'fdc4:f303:9324::254'

Description

This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connect
Usage: mavlink [arguments...]
Commands:

start Start a new instance
[-d ] Select Serial Device
values: file:dev, default: /dev/ttyS1
[-b ] Baudrate (can also be p:<param_name>)
default: 57600
[-r ] Maximum sending data rate in B/s (if 0, use baudrate / 20)
default: 0
[-p] Enable Broadcast
[-u ] Select UDP Network Port (local)
default: 14556
[-o ] Select UDP Network Port (remote)
default: 14550
[-t ] Partner IP (broadcasting can be enabled via -p flag)
default: 127.0.0.1
[-m ] Mode: sets default streams and rates
values: custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal|uavionix,
[-n ] wifi/ethernet interface name
values: <interface_name>
[-f] Enable message forwarding to other Mavlink instances
[-w] Wait to send, until first message received
[-x] Enable FTP
[-z] Force hardware flow control always on
[-Z] Force hardware flow control always off

stop-all Stop all instances

stop Stop a running instance
[-u ] Select Mavlink instance via local Network Port
[-d ] Select Mavlink instance via Serial Device
values: file:dev

status Print status for all instances
[streams ] Print all enabled streams

stream Configure the sending rate of a stream for a running instance
[-u ] Select Mavlink instance via local Network Port
[-d ] Select Mavlink instance via Serial Device
values: file:dev
-s Mavlink stream to configure
-r Rate in Hz (0 = turn off, -1 = set to default)

boot_complete Enable sending of messages. (Must be) called as last step in startup script.
INFO [tone_alarm] home set
WARN [mavlink] mavlink for network on port 18570 is not running
WARN [mavlink] mavlink for network on port 18570 is not running
WARN [mavlink] mavlink for network on port 18570 is not running
WARN [mavlink] mavlink for network on port 18570 is not running
WARN [mavlink] mavlink for network on port 18570 is not running
WARN [mavlink] mavlink for network on port 18570 is not running
WARN [mavlink] mavlink for network on port 18570 is not running
WARN [mavlink] mavlink for network on port 18570 is not running
WARN [mavlink] mavlink for network on port 18570 is not running
ERROR [mavlink] invalid partner ip 'fdc4:f303:9324::254'

Description

This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connect
Usage: mavlink [arguments...]
Commands:

start Start a new instance
[-d ] Select Serial Device
values: file:dev, default: /dev/ttyS1
[-b ] Baudrate (can also be p:<param_name>)
default: 57600
[-r ] Maximum sending data rate in B/s (if 0, use baudrate / 20)
default: 0
[-p] Enable Broadcast
[-u ] Select UDP Network Port (local)
default: 14556
[-o ] Select UDP Network Port (remote)
default: 14550
[-t ] Partner IP (broadcasting can be enabled via -p flag)
default: 127.0.0.1
[-m ] Mode: sets default streams and rates
values: custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal|uavionix,
[-n ] wifi/ethernet interface name
values: <interface_name>
[-f] Enable message forwarding to other Mavlink instances
[-w] Wait to send, until first message received
[-x] Enable FTP
[-z] Force hardware flow control always on
[-Z] Force hardware flow control always off

stop-all Stop all instances

stop Stop a running instance
[-u ] Select Mavlink instance via local Network Port
[-d ] Select Mavlink instance via Serial Device
values: file:dev

status Print status for all instances
[streams ] Print all enabled streams

stream Configure the sending rate of a stream for a running instance
[-u ] Select Mavlink instance via local Network Port
[-d ] Select Mavlink instance via Serial Device
values: file:dev
-s Mavlink stream to configure
-r Rate in Hz (0 = turn off, -1 = set to default)

boot_complete Enable sending of messages. (Must be) called as last step in startup script.
INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
INFO [mavlink] mode: Gimbal, data rate: 400000 B/s on udp port 13030 remote port 13280
INFO [logger] logger started (mode=all)
INFO [logger] Start file log (type: full)
INFO [logger] [logger] ./log/2025-01-10/00_39_32.ulg
INFO [logger] Opened full log file: ./log/2025-01-10/00_39_32.ulg
INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
INFO [px4] Startup script returned successfully
pxh> INFO [commander] Ready for takeoff!
WARN [health_and_arming_checks] Preflight Fail: height estimate not stable

pxh>

[JonasVautherin]

fdc4:f303:9324::254 looks like an IPv6, right? It seems like my script detects an IPv6 for the host and tries to pass it to MAVLink, which doesn't support it 🤔.

Could you try to get into the container with something like:

docker run --rm -it --entrypoint /bin/bash jonasvautherin/px4-gazebo-headless

And from there show me the output of:

 ip route

and

ip route | awk '/default/ { print $3 }'

I expect the latter to output fdc4:f303:9324::254.

[ytl001]

Thank you for your prompt response. I don't think I'm using IPv6, though it does look like an IPv6 address with some missing numbers. Here's the output you requested. Yings-iMac:~ ytl$ docker run --rm -it --entrypoint /bin/bash jonasvautherin/px4-gazebo-headless ***@***.***:/# ip route default via 172.17.0.1 dev eth0 172.17.0.0/16 dev eth0 proto kernel scope link src 172.17.0.2 ***@***.***:/# ip route | awk '/default/ { print $3 }' 172.17.0.1 ***@***.***:/#

…

On Mon, Jan 13, 2025 at 8:42 AM Jonas Vautherin ***@***.***> wrote: fdc4:f303:9324::254 looks like an IPv6, right? It seems like my script detects an IPv6 for the host and tries to pass it to MAVLink, which doesn't support it 🤔. Could you try to get into the container with something like: docker run --rm -it --entrypoint /bin/bash jonasvautherin/px4-gazebo-headless And from there show me the output of: ip route and ip route | awk '/default/ { print $3 }' I expect the latter to output fdc4:f303:9324::254. — Reply to this email directly, view it on GitHub <#54 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AFIR43GHUUGHMIBK3R56SGD2KPUGXAVCNFSM6AAAAABU5KPFT6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDKOBXGYZDSNRQGM> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[JonasVautherin]

And can you try running:

docker run --rm -it jonasvautherin/px4-gazebo-headless 172.17.0.1 172.17.0.1

Does that work better?

[ytl001]

Yes, the ip error went away when px4 came up. QGroundControl is still not connecting though. Do I need to set something in QGroundControl? I started it before running the docker command and it kept showing "Disconnected". Or did I misunderstand how QGroundControl works with the simulator? Thank you very much for your help!

…

On Mon, Jan 13, 2025 at 2:53 PM Jonas Vautherin ***@***.***> wrote: And can you try running: docker run --rm -it jonasvautherin/px4-gazebo-headless 172.17.0.1 172.17.0.1 Does that work better? — Reply to this email directly, view it on GitHub <#54 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AFIR43GSW2JSYGF673DJIYL2KQ7YFAVCNFSM6AAAAABU5KPFT6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDKOBYGM4TMOBUG4> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[JonasVautherin]

Is QGC running on the host? It should receive MAVLink on 14550 🤔

[ytl001]

QGC is running on the host. But it was spawned in a different process than the shell performing docker run. This should be ok, right? I'm going to be out of town for the next couple of weeks. I will work on it more when I get back. Thank you so much.

…

On Tue, Jan 14, 2025 at 4:05 AM Jonas Vautherin ***@***.***> wrote: Is QGC running on the host? It should receive MAVLink on 14550 🤔 — Reply to this email directly, view it on GitHub <#54 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AFIR43HHRIMYBBZWHZ4JM3D2KT4QVAVCNFSM6AAAAABU5KPFT6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDKOBZG4ZTSNZZGQ> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[JonasVautherin]

But it was spawned in a different process than the shell performing docker run. This should be ok, right?

Yes that is fine.

One thing is that I don't know if it still works on macOS. I made it work 7 years ago and haven't tried it since, chances are that something may have changed with docker 🙈.

[julianoes]

I saw the same problem with docker on macOS, and adding the IPs fixed it as suggested in #54 (comment). I wonder why this happens.

[JonasVautherin]

Would be interesting to know where this number comes from. It's supposed to come from the ip route command, but apparently it did not appear there 🤔

[julianoes]

Must be this line, right?

px4-gazebo-headless/edit_rcS.bash

Line 23 in 2b20fac

echo "$(getent hosts host.docker.internal | awk '{ print $1 }')"

[julianoes]

I will ask what this is on that machine.

[JonasVautherin]

Oh maybe it is, yes. I was looking at this one, which seems to work for @ytl001:

px4-gazebo-headless/edit_rcS.bash

Line 27 in 2b20fac

echo "$(ip route | awk '/default/ { print $3 }')"

Maybe the is_docker_vm logic is obsolete for macOS and it should just use the normal ip route way now?

[julianoes]

My datapoint is that this line gives on macOS docker:

getent hosts host.docker.internal
fdc4:f303:9324::254 host.docker.internal

[ytl001]

Jonas, I notice that the px4 (running inside docker) says: INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network) and indeed the command "mavlink status" returns: instance #0: mavlink chan: #0 type: GENERIC LINK OR RADIO flow control: OFF rates: tx: 17059.8 B/s txerr: 0.0 B/s tx rate mult: 1.000 tx rate max: 4000000 B/s rx: 0.0 B/s rx loss: 0.0% FTP enabled: YES, TX enabled: YES mode: Normal Forwarding: On MAVLink version: 2 transport protocol: UDP (18570, remote port: 14550) Broadcast enabled: NO partner IP: 172.17.0.1 instance #1: mavlink chan: #1 type: GENERIC LINK OR RADIO flow control: OFF rates: tx: 24971.1 B/s txerr: 0.0 B/s tx rate mult: 1.000 tx rate max: 4000000 B/s rx: 0.0 B/s rx loss: 0.0% FTP enabled: YES, TX enabled: YES mode: Onboard Forwarding: On MAVLink version: 2 transport protocol: UDP (14580, remote port: 14540) Broadcast enabled: NO partner IP: 172.17.0.1 But after I issue the command "param set MAV_0_BROADCAST 1", the status still shows the same "Broadcast enabled: NO" as before. I found a solution in: https://discuss.px4.io/t/cannot-enable-mav-i-broadcast/22408, but I think you will have to do this in your docker build code. I suspect this might be the problem, since px4 seems to be able to see qgroundcontrol but qgroundcontrol cannot see px4 inside the container when I set up a comm link in qgroundcontrol to point to the local port assigned by px4 (172.17.0.2:18570, where 172.17.0.2 is the ip address of the container). When I set the comm link to be 172.17.0.1:14550 (where 172.17.0.1 is the ip address of the host), px4 and qgroundcontrol cannot see each other. Let me know what you think. Thanks, Ying

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On Wed, Jan 15, 2025 at 5:25 AM Jonas Vautherin ***@***.***> wrote: But it was spawned in a different process than the shell performing docker run. This should be ok, right? Yes that is fine. One thing is that I don't know if it still works on macOS. I made it work 7 years ago and haven't tried it since, chances are that something may have changed with docker 🙈. — Reply to this email directly, view it on GitHub <#54 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AFIR43DAEJ45DXBUL2RDP232KZOU5AVCNFSM6AAAAABU5KPFT6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDKOJSHA2TENRQGM> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[JonasVautherin]

I think there is some confusion here. Your MAVLink output says:

transport protocol: UDP (18570, remote port: 14550)
partner IP: 172.17.0.1
...
transport protocol: UDP (14580, remote port: 14540)
partner IP: 172.17.0.1

Which means that MAVLink is sending to 172.17.0.1:14550 and 172.17.0.1:14540. You should not have to care about the broadcast at all. We don't want to broadcast, we just want to send it to the host (172.17.0.1).

In QGC, you don't want to set a comm link sending to e.g. 172.17.0.2:18570. You just want to listen to 14550/udp, which should be the default in QGC.