I just got my rae. Tried to set it up with RobotHub according to instructions (QR code): QR code is received, display states "connecting to <my SSID>", device flashes first blue, then red, then turns white - but no connection to my WLAN (device doesn't show up in my WLAN or RobotHub). Tried to set it up manually according to instructions: SSID & password were obviously correctly received, because the correct information is in /etc/wpasupplicant.conf. BTW, there is an error in the instructions, the quotation marks in the example for the passPHRASE are wrong, use only if you use the passWORD. /etc/systemd/network/20-wifi.network has the right content, too. Stopping hostapd was never needed, it is always dead after startup. When trying to connect to my WLAN with wpasupplicant b -i wlp1s0 (…) i start getting lots of error messages - from missing or invalided devices, to already running (or hanging) instances… Error messages seem to depend a bit on the time of day and what I tried before - I can provide them, if there is anyone who can help me. This seems to be the root cause of the issue, because I don't get beyond that step in the manual setup and I guess the "QR code method" is trying to do pretty much the same in the background. I do get wlp1s0 shown in the device list for ifconfig & Co.), but obviously never with a connection to my WLAN. When trying to scan for WLANs with wpa_cli, I don't get any output (and there are plenty of WLANs around), which strikes me as weird, because that should IMO work, even without any WLAN connection. So maybe THIS is the root cause and something is wrong with the WLAN adapter? Last observation, not sure if this might be related: My device gets VERY hot. You need to be quick when picking it up for shutting it down…! I don't think, that it should be that hot. After some time, I started to get kicked out of the ssh session too, so I suspect a bit, the device might freeze/lock-up due to overheating. The display is strange, too: It starts up fine (backlit -> "rae" -> small robot on white background -> "Register…" on white background, but then the display starts to "flicker", constantly changing ist brightness until it's gone. Looks a bit like a "fade out" effect with 0.5 Hz … I doubt very much, that this is as it should be, too. Any ideas, tips or recommendations? Some more info I shall provide? I have no previous experience with Archlinux, but I am otherwise fairly proficient on Linux (Ubuntu/Debian), so fire away! With respect to temperature and display: Might I simply have a HW defect?

DiMa … I can confirm that my Rae gets slightly warm after an hours use and charging but definitely not hot. I suspect a H/W fault ... my Rae's display is constant, no fading etc. Have you tried a hard reset with the reset button and then updating to FW v1.13 (using the USB cable connection) ?

Definetly more than "slightly warm"… 😉 No, I did not try a "hard reset" - how do I do that? And how do I install new FW (and where do I get it) - I guess that's somewhere in the Wiki, but I did not yet stumble upon it… EDITH: Found it - just in case I am not the only one looking in different places… Instructions are here .

DiMa … v1.13 is here https://luxonisos.fra1.digitaloceanspaces.com/index.html?prefix=build/

There are two versions, which one should I pick - the newer one (from October, 2nd)? How does the installation work, when I have no internet connection, i.e. have to scp the files onto the rae? I did find instructions for pulling the FW via mender only.

Got one step further after hard resetting: QR scan method etc. works, I triple checked that. I now get a proper "Couldn't connect" message with the red blinking, too. With the "fresh" device, I can now see all my local WLAN APs, too, so the WLAN interface does seem to work, too: wpa_cli v2.9 Copyright (c) 2004-2019, Jouni Malinen <j@w1.fi> and contributors This software may be distributed under the terms of the BSD license. See README for more details. Selected interface 'p2p-dev-wlp1s0' Interactive mode <3>CTRL-EVENT-SCAN-RESULTS scan_results > bssid / frequency / signal level / flags / ssid 82:a7:41:ec:80:f1 5220 -41 [WPA2-PSK-CCMP][ESS] lannisport_iot 76:a7:41:ec:80:f1 5220 -77 [WPA2-PSK-CCMP][ESS] lannisport 7e:a7:41:ec:80:f1 5220 -77 [WPA2-PSK-CCMP][ESS] lannisport_restricted 7e:a7:41:ec:80:f0 2462 -83 [WPA2-PSK-CCMP][ESS] lannisport_iot 7a:a7:41:ec:80:f0 2462 -44 [WPA2-PSK-CCMP][ESS] lannisport_restricted 7a:a7:41:ec:80:f1 5220 -77 [ESS] eighteenguests 76:a7:41:ec:80:f0 2462 -43 [ESS] eighteenguests 86:a7:41:ec:80:f0 2462 -83 [WPA2-PSK-CCMP][ESS] 70:a7:41:ec:80:f0 2462 -44 [WPA2-PSK-CCMP][ESS] lannisport 82:a7:41:ec:80:f0 2462 -83 [WPA2-PSK-CCMP][ESS] ea:63:da:a4:f3:fb 2462 -79 [WPA2-PSK-CCMP][ESS] lannisport_restricted ee:63:da:a4:f3:fb 2462 -80 [WPA2-PSK-CCMP][ESS] lannisport_iot e0:63:da:a4:f3:fb 2462 -82 [WPA2-PSK-CCMP][ESS] lannisport e6:63:da:a4:f3:fb 2462 -79 [ESS] eighteenguests I have three APs, all providing the same four SSIDs (lannisport_iot, lannisport:restricted, lannisport, and eighteenguests). Could this be the issue, that the rae doesn't support any roaming or fails to connect to an SSID, when multiple APs are available to connect to it? It seems to "see" the nearest AP with both 2.4 & 5 GHz bands plus one other with 2.4 GHz only. According to the documentation , wpa_supplicant should support roaming, though.

Hah! Found it! hostapd is blocking wlp1s0! After stopping the service, the link to my WLAN comes up. This is reproducible, since hostapd is running after each reboot… I am not too familiar with systemd and not at all with hostapd: Quick hint or pointer on how to disable the automatic start on reboot? @Mike Do you have any hint which 1.13 to pick? Running on 1.12. And which URL do I need to provide to mender: To the directory, to the *.mender file…(I guess: the latter)? Sorry if these are stupid questions, but "mender -install <link_to_firmware>" isn't that conclusive with respect to what the link should point to 😉 BTW: I just measured the surface tempratire (just on the top of the rae): 54°C after ca. 30-45min fighting with the WLAN config, see above. Doesn't sound right to me. I am now starting to get kicked out of the ssh session again and can't reconnect… root@keembay:~# wpa_supplicant -i wlp1s0 -c /etc/wpa_supplicant.conf -B Successfully initialized wpa_supplicant root@keembay:~# client_loop: send disconnect: Connection reset Shutdown via double click stopped working, too, only hard shutdown will work then.

DiMa … Good to hear you are connected … 54degC is hot … something is wrong … I'd reach out to support. See here for the firmware upgrade entry … https://discuss.luxonis.com/d/2328-newbee-quick-starter-to-get-code/5

Don't get further, the device is mostly dead. When starting up, I got the logo and then the LEDs where "blinking" white, but not in a good way. Looked more like something was wrong with the process controlling the RGB-LEDs. Devices doesn't react to power button at all - neither double-click, nor pressing 8s (or longer). Had to wait until the battery died… Sent a mail to support, let's see how they react. So far, rae is a very frustrating experience…

Hi DiMa Very likely it's a hardware issue. Thanks for emailing support and sorry for the inconvenience. Regards, Jaka

I can confirm the RAE becomes hot while running the ROS stack. It's "slightly warm" only in idle mode.

No chance in getting a WLAN connection & device gets VERY hot

sskorol

I adjusted the script to print the type of cooling device and thermal zone (idle mode):

I'm slightly confused because top temperature values (based on the previous experiments) come from the battery gauge and Wi-Fi zones, while VPU cooling drops to zero. Is it even safe?

sskorol

As expected… When I reached the following numbers by running a full RAE stack in docker (idle mode), and then ran the teleop node, RAE rebooted in a couple of seconds after triggering the motors.

Mike

sskorol … I did find the page below … indicating that temps can go high … it is not comparing apples with apples … but still good to know … While RAE rebooted in your test it would still be dangerous to blame that on the temps given the current state of the available software … things should stabilize over the next few months.

https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/operative_temperature_range/?highlight=temperature

DaniloPejovic

Hey, I am currently in progress of testing and trying to reproduce the issue - I am not really managing to get rae to go over ₅₇ degrees even after couple of hours of running cameras+teleopt stack.

In the past we had issues with LEDs overheating the device - that issue should be solved but I think it is still worth a try to check if it is LEDs overheating the device and then go from there. You can turn LEDs off in default ros stack (robot.launch.py) by either removing LED peripheral node from rae_hw/launch/peripherals.launch.py (assuming you disabled the agent) or even bit bootleg solution like changing this line to always be false (thus sending empty LED messages) should suffice. If we can narrow down issue to since peripheral that would be very helpful.

Thanks and sorry for the inconvenience.

sskorol

DaniloPejovic thanks, will test with a disabled leads node.

sskorol

DaniloPejovic, running a full ROS stack for about 35 minutes with a disabled LED node. WiFi temperature holds at ~58-59 degrees. Battery gauge - 54-55. Also, I gave a relatively small load on servos via teleop. So, your observation regarding LEDs seems correct, and they cause overheating. So what was the fix? Is it a pure hardware issue? And if it was fixed, then how did it appear in production? Anyway, what would be the next steps?

sskorol

As there were recent LED updates pushed to the ROS repo, I decided to check the theory and executed a full stack with LED node, which led me to the following numbers in just 5 minutes:

However, there was another observation. In the previous message, I didn't use cameras. And when I added a couple of camera views in RViz, there was a temperature spike in the WiFi thermal zone.

I could reach 66-67 degrees. However, it never jumped above this point. So, it seems like the problem is more complicated. LEDs are still probably the main failure point. But I don't believe they cause overheating in isolation. When I shut down the ROS stack, LEDs remained active (bug). But the temperature dropped to 57-58 degrees as well. So, it seems like cameras + LEADs in conjunction cause the overheating.

Update: after a couple of hours of running the full stack with active cameras but w/o LEDs, I still reached the high temp in a WiFi zone (70-71 degrees). So it seems like it's just a matter of time to come to the red zone with active camera streams.

Mike

sskorol … Why is the 70-71 degs a red zone ?

sskorol

Mike based on the specs, WiFi module operating temperature is 0-80 degrees. While processors start throttling when overheated, units like WiFi usually just shutdown until temperature is stabilized to protect themselves from the thermal shock (based on feedback from people who do a lot of stuff with such hardware).

I didn’t find it in specs, but if I was the manufacturer, I’d probably leave ~5% buffer for thermal protection. It’s 76 degrees in this case (and it was +- the last value I saw before RAE rebooted). That’s why I’d treat ~72 degrees as a red zone for the end-user to get prepared for shutdown.

From what I’ve seen on disassembled RAE photos, WiFi module is located in the zone close to one of the camera processors. Based on VPU specs, its operational temperature is up to 120 degrees. So 5 active processors and LEDs could generate a lot of heat for such a small area.

Mike

sskorol … Too early for those conclusions … An operating range is an operating range … if a device caused a reboot within the operating temp range then the device is faulty - it does happen.

sskorol

Mike I wonder if you've already tried to measure the temperature on your robot? What are the numbers in active mode with cameras, leds, teleoperation?

Mike

sskorol … I have used the default app to drive Rae around until battery was flat … LEDs were on … WIFI on … did not measure temps … Rae worked fine … After seeing how raw things are at the moment and my available time I will shelve Rae for a month and dust off in December when I will have more time. Hopefully by then there is more software integration and updates … Meta Quest 3 integration soon ;-)

DaniloPejovic

Hey, @sskorol while wifi operating range is up to 80 degrees and temperatures you are experiencing fall under it (so it shouldnt cause any issue while running the device) I havent been able to replicate that issue on few samples I have tried.

Are you experiencing any performance issues when RAE heats up?

sskorol

DaniloPejovic well, RAE just reboots when I reach these numbers, so…

Also note that ~74-75 degrees is the last number I saw from the CLI tool for temperature measurement. Theoretically, it could have rapidly jumped higher but has never been reported due to the actual reboot.

If no one can reproduce it, I guess it's just a faulty device, and I may request a replacement, right?

jakaskerl

Hi sskorol
Of course. Please write an email to support@luxonis.com, link to this thread and ask for a replacement. We will likely run some tests on the device, trying to figure out the problem.

Thanks and sorry for the inconvenience.

Regards,
Jaka

DiMa

Sorry for not coming back here for a time, but as stated above, I needed to exchange my rae first and got an unplanned two weeks business trip on top… My new device arrived today, will hopefully find time to test it tomorrow. Getting it hooked up to RobotHub and driving it around would already be an achievement over the last time 😉

Getting the device exchanged was no problem and the Luxions staff was really helpful, took a while, though…

DiMa

I did give it a quick try: Good news is, that the display isn't flickering so far 😉 I tried setup via RH, QR code was recognized, trying to connect to my WLAN… Connection error. Tried again - connection error. Tried another WLAN/SSID - connection error. Followed the instructions to shut down (double press of the power button) and try again. This time the display shows "Connecting…", then the rae flashes red, then turns white and the display is stuck at "Connecting…" (with the "pulsing" dots. Shutdown with double press doesn't work anyomore either, only hart shutdown (8s press) works.

This is really no fun. Any idea why the rae is not connecting to my WLANs (passwords are from a password manager, so we can exclude mistyping)? Is the setup via RH even working for anyone?

Suggestions on how to continue?

jakaskerl

Hi DiMa
I always set up the device using RH QR code, never had problems. I'd try factory reset if you are not getting anywhere with the setup. Perhaps there was an error somewhere in the process, which should get fixed by a reset. Is the WIFI password/SSID using any weird characters/white spaces/etc (should work anyway, just checking)?

Thanks,
Jaka

DiMa

No, just the usual mix of numbers, characters, special characters ({[]}…). No whitespaces, no UTF stunts. SSID is hidden, but a) that shouldn't matter and b) it doesn't work with non-hidden SSIDs either.

Did a factory reset, I think - no change. BTW, how do I know, that the factory reset did work? I press the button 10s - and then? Nothing on the display, device doen't turn off…?!

DiMa

Some more troubleshooting via direct connection (USB-C):

After each reboot, hostapd is crashed.
Information in wpa_supplicant.conf is correct (SSID, password - no weird character translations as I read elsewehere etc. - everything is fine, that part of reading the QR code does definetly work)
No IP address obtained, not connected to my WLAN - in line with the "connection error" messages on the deveice, when I try the QR-code method.

How to get it connected to the WLAN?

systemctl stop hostapd

systemctl restart systemd-networkd

wpa_supplicant -B -i wlp1s0 -c /etc/wpa_supplicant.conf

And then the rae is connected to my WLAN, can ping Google etc.

Does this give any indication, what's wrong with the device/setup? The issue (as mentioned earlier in this thread!) seems to be a crashed hostapd. I'd like to disable it completely to check, if then maybe the connection comes up properly. Maybe then the QR-method would even work…? The display still states "Register at…

I tried using the QR code method with a the WLAN connection up (via shell/USB-C) - same result (QR code is read, SSID/pwd is transferred, connection error… while the rae is connected to WLAN and can ping e.g. google.com). Provisioning app is running, too, I checked that.

Very strange, I really don't get it 🙄

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