推荐|wfb-ng 开源代码之Jetson Orin安装

wfb-ng 开源代码之Jetson Orin安装

1. 源由
2. 准备
3. 步骤
4. 总结
5. 问题：编译错误
6. 参考资料

1. 源由

为了更好的使用Jetson上AI开发环境，通过wfb-ng将穿越机/无人机的视频以及控制链路引入后端分析。

这里将Step by Step简单介绍下wfb-ng开源代码在Jetson Orin的安装过程。

2. 准备

硬件：

Jetson Orin 开发板
RTL8812AU网卡
OpenIPC FPV摄像头

软件：开源，一切都是开源的！！！请预装系统，推荐使用Linux 35.5 + JetPack v5.1.3，目前ROS上开源支持的比较广泛。

3. 步骤

3.1 DKMS安装

$ sudo apt-get install dkms
$ git clone [email protected]:svpcom/rtl8812au.git
$ cd rtl8812au
$ sudo ./dkms-install.sh

3.2 RTL8812AU驱动

$ make
$ sudo make install
$ sudo modprobe 88XXau_wfb

插入网卡：

$ sudo dmesg|tail -n 8
[ 1267.101046] usb 1-2.1: new high-speed USB device number 6 using tegra-xusb
[ 1267.207162] usb 1-2.1: config 1 interface 0 altsetting 0 endpoint 0x85 has an invalid bInterval 0, changing to 7
[ 1267.219528] usb 1-2.1: New USB device found, idVendor=0bda, idProduct=881a, bcdDevice= 0.00
[ 1267.219534] usb 1-2.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 1267.219538] usb 1-2.1: Product: 802.11n NIC
[ 1267.219541] usb 1-2.1: Manufacturer: Realtek
[ 1267.219544] usb 1-2.1: SerialNumber: 123456
[ 1271.179209] IPv6: ADDRCONF(NETDEV_CHANGE): wlan1: link becomes ready

3.3 确认网卡

经检查RTL8812AU网卡实际系统中显示的是wlan1

$ ethtool -i wlan1
driver: rtl88xxau_wfb
version: 5.10.192-tegra
firmware-version:
expansion-rom-version:
bus-info: 1-2.1:1.0
supports-statistics: no
supports-test: no
supports-eeprom-access: no
supports-register-dump: no
supports-priv-flags: no


$ lsusb
Bus 002 Device 002: ID 0bda:0489 Realtek Semiconductor Corp. 4-Port USB 3.0 Hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 13d3:3549 IMC Networks Bluetooth Radio
Bus 001 Device 005: ID 222a:0001
Bus 001 Device 004: ID 046d:c52e Logitech, Inc. MK260 Wireless Combo Receiver
Bus 001 Device 006: ID 0bda:881a Realtek Semiconductor Corp.
Bus 001 Device 002: ID 0bda:5489 Realtek Semiconductor Corp. 4-Port USB 2.0 Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

$ iwconfig
lo        no wireless extensions.

dummy0    no wireless extensions.

eth0      no wireless extensions.

wlan0     IEEE 802.11bgn  ESSID:"AutoConnect"  Nickname:""
          Mode:Managed  Frequency:2.412 GHz  Access Point: B8:F8:83:6E:16:9F
          Bit Rate:300 Mb/s   Sensitivity:0/0
          Retry:off   RTS thr:off   Fragment thr:off
          Power Management:off
          Link Quality=81/100  Signal level=68/100  Noise level=0/100
          Rx invalid nwid:0  Rx invalid crypt:0  Rx invalid frag:0
          Tx excessive retries:0  Invalid misc:0   Missed beacon:0

l4tbr0    no wireless extensions.

rndis0    no wireless extensions.

usb0      no wireless extensions.

docker0   no wireless extensions.

wlan1     IEEE 802.11  ESSID:off/any
          Mode:Managed  Access Point: Not-Associated   Tx-Power=18 dBm
          Retry short limit:7   RTS thr:off   Fragment thr:off
          Power Management:off

3.4 安装地面站

$ git clone -b stable https://github.com/svpcom/wfb-ng.git
$ cd wfb-ng
$ sudo ./scripts/install_gs.sh wlan1

3.5 wfg-ng服务操作

服务状态：

$ sudo systemctl status wifibroadcast@gs

启动服务：

$ sudo systemctl start wifibroadcast@gs

停止服务：

$ sudo systemctl stop wifibroadcast@gs

使能服务：

$ sudo systemctl enable wifibroadcast@gs

去使能服务：

$ sudo systemctl disable wifibroadcast@gs

3.6 其他操作

制作秘钥对，其中drone.key部署在天空端，而gs.key部署在地面端。

$ wfb_keygen

查看收发包状态：

$ wfb-cli gs

4. 总结

在jetson板子上仍然可以使用以下gstreamer命令进行解析RTP视频流：

H264

$ gst-launch-1.0 udpsrc port=5600 caps='application/x-rtp' ! rtph264depay ! h264parse disable-passthrough=true config-interval=1 ! nvv4l2decoder ! nvvidconv ! xvimagesink

H265，详见：H265 pipeline for gstreamer no video issue

$ gst-launch-1.0 udpsrc port=5600 caps='application/x-rtp' ! rtph265depay ! h265parse disable-passthrough=true config-interval=1 ! nvv4l2decoder ! nvvidconv ! xvimagesink

or 
$ gst-launch-1.0 udpsrc port=5600 caps='application/x-rtp,encoding-name=H265,payload=96' ! rtph265depay ! h265parse disable-passthrough=true config-interval=1 ! nvv4l2decoder ! nvvidconv ! xvimagesink

在jetson板子上使用video-viewer命令进行解析RTP视频流：

H264

$ video-viewer rtp://@:5600 --input-decoder=v4l2 --input-codec=h264

H265

$ video-viewer rtp://@:5600 --input-decoder=v4l2 --input-codec=h265

但是后续的重点是用nvidia的AI程序来进行视频的分析：

5. 问题：编译错误

Collecting git+https://github.com/svpcom/stdeb
  Cloning https://github.com/svpcom/stdeb to /tmp/pip-req-build-ycqy88pl
  Running command git clone -q https://github.com/svpcom/stdeb /tmp/pip-req-build-ycqy88pl
  error: RPC failed; curl 28 Failed to connect to github.com port 443: Connection timed out
  fatal: the remote end hung up unexpectedly
ERROR: Command errored out with exit status 128: git clone -q https://github.com/svpcom/stdeb /tmp/pip-req-build-ycqy88pl Check the logs for full command output.
make: *** [Makefile:27: /home/daniel/wfb/wfb-ng/env] Error 1

rm -rf deb_dist
$(PATH=/home/daniel/wfb/wfb-ng/env/bin:/home/daniel/wfb/wfb-ng/env/local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/snap/bin which python3) ./setup.py --command-packages=stdeb.command bdist_deb
usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...]
   or: setup.py --help [cmd1 cmd2 ...]
   or: setup.py --help-commands
   or: setup.py cmd --help

error: invalid command 'bdist_deb'
make: *** [Makefile:65: deb] Error 1

rm -rf deb_dist
/home/daniel/wfb/wfb-ng/env/bin/python ./setup.py --command-packages=stdeb.command bdist_deb
usage: setup.py [global_opts] cmd1 [cmd1_opts] [cmd2 [cmd2_opts] ...]
   or: setup.py --help [cmd1 cmd2 ...]
   or: setup.py --help-commands
   or: setup.py cmd --help

error: invalid command 'bdist_deb'
make: *** [Makefile:50: deb] Error 1

编译最新库上版本，出现以上编译错误。其主要原因是虚拟编译环境，网络环境，出错后异常处理等问题导致最终就是出现以上问题。

解决方法挺简单的：rm -rf wfb-ng/env

install from latest git code failed with “error: invalid command ‘bdist_deb’” #374

6. 参考资料

【1】Ardupilot & OpenIPC & 基于WFB-NG构架分析和数据链路思考
【2】wfb-ng 开源工程结构&代码框架简明介绍
【3】wfb-ng 开源代码之wfb_tx&wfb_rx
【4】wfb-ng 开源代码之wfb_tx模式更新