RAE: robohubctl stop makes me lose SSH access to device

Vinny

Hi,

When I use robohub-ctl stop on the RAE (through SSH over my home wifi), as suggested in the ROS2 tutorial, the device becomes unresponsive and requires a power reset.

https://github.com/luxonis/rae-ros/tree/humble

Is there anything I can do to prevent this behavior, or is this expected?

jakaskerl

cc @StepanKroupa

sskorol

I can confirm the same behavior. It seems like stopping the agent automatically drops the Wi-Fi connection, as RAE disappears from the list of available devices on the router. On the other hand, we can't run the ros container, as it fails due to occupied hardware resources. The RobotHub agent holds the device and doesn't release it. This issue was raised 3 weeks ago, but there is no fix or workaround yet. jakaskerl @StepanKroupa

Can you at least provide a command or script for the device deallocation?

sskorol

Ok, I figured out a workaround:

connect to RAE via USB
ssh root@192.168.197.55
robothub-ctl stop
wpa_supplicant -i wlp1s0 -c /etc/wpa_supplicant.conf -Bdetails
systemctl restart systemd-networkd

But I'd expect stopping the agent shouldn't drop the WiFi.

jakaskerl

Hi sskorol
Since wpa_supplicant is a subprocess of agent, it gets killed when along with the agent.
If you wish for the WIFI to continue working you need a different way of starting the supplicant.

Thanks,
Jaka

sskorol

jakaskerl hi,

Well, I mean, I can put it into a script and bundle it as a service. But shouldn't the RAE team take care of it the way their apps don't conflict with each other?

RAE ROS repo states there will be a race condition for device resources between RobotHub and ROS nodes. And suggests stopping the agent. On the other hand, people confirm that it's not a persistent solution, which also interrupts the internet connection, making the whole ROS-related stuff useless. You still need to stream videos, run simulations, etc. externally. So you need to access the network for that.

Why won't the RAE team want to build separate images for RobotHub and ROS?

jakaskerl

Hi @sskorol
Asked the team, the RH and ROS will not get separate images. You should be able to use the two together and we are working on making it more stable.

Thanks,
Jaka