# Need help connecting companion computer using Ethernet on RPi **URL:** \ **Category:** ROS 1 / ROS 2\ **Created:** [November 1, 2024, 4:19pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247 "2024-11-01T16:19:39Z")\ **Posts on this page:** 13\ **Page:** 1
**Author:** ![psvs](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/839c29/32.png) [@psvs](https://discuss.px4.io/u/psvs)\ **Post date:** [November 1, 2024, 4:19pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/1 "2024-11-01T16:19:39Z")
Hi guys, I am trying to connect my autopilot with my companion computer using the ethernet cable. **Details of the hardware:** Autopilot: Pixhawk 6x with firmware version 1.15.1 Companion computer: Raspberry Pi 4B running Ubuntu 24.04 Connected using an Ethernet cable I have followed the steps from [https://docs.px4.io/main/en/advanced\_config/ethernet\_setup.html#ros-2-setup-example](https://docs.px4.io/main/en/advanced_config/ethernet_setup.html#ros-2-setup-example) and [https://px4.io/get-the-pixhawk-raspberry-pi-cm4-baseboard-by-holybro-talking-with-px4/](https://px4.io/get-the-pixhawk-raspberry-pi-cm4-baseboard-by-holybro-talking-with-px4/). However, XRCE-Agent is unable to communicate with the client. ```auto uavpi2@raspberrypi:~$ MicroXRCEAgent udp4 -p 8888 [1727457933.486357] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 [1727457933.487239] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 ``` On the client side, I get: ```auto uxrce_dds_client status INFO [uxrce_dds_client] Running, disconnected INFO [uxrce_dds_client] Using transport: udp INFO [uxrce_dds_client] Agent IP: 10.41.10.1 INFO [uxrce_dds_client] Agent port: 8888 INFO [uxrce_dds_client] Custom participant: no INFO [uxrce_dds_client] Localhost only: no INFO [uxrce_dds_client] timesync converged: false uxrce_dds_client: cycle: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms uxrce_dds_client: cycle interval: 0 events, 0.00us avg, min 0us max 0us 0.000us rms ``` Also, I am able to ping from both the devices. ```auto nsh> ping 10.41.10.1 PING 10.41.10.1 56 bytes of data 56 bytes from 10.41.10.1: icmp_seq=0 time=0.0 ms 56 bytes from 10.41.10.1: icmp_seq=1 time=0.0 ms 56 bytes from 10.41.10.1: icmp_seq=2 time=0.0 ms 56 bytes from 10.41.10.1: icmp_seq=3 time=0.0 ms 56 bytes from 10.41.10.1: icmp_seq=4 time=1.0 ms 56 bytes from 10.41.10.1: icmp_seq=5 time=1.0 ms 56 bytes from 10.41.10.1: icmp_seq=6 time=0.0 ms 56 bytes from 10.41.10.1: icmp_seq=7 time=0.0 ms 56 bytes from 10.41.10.1: icmp_seq=8 time=0.0 ms 56 bytes from 10.41.10.1: icmp_seq=9 time=0.0 ms 10 packets transmitted, 10 received, 0% packet loss, time 10010 ms rtt min/avg/max/mdev = 0.000/0.200/1.000/0.400 ms ``` ```auto uavpi2@raspberrypi:~$ ping 10.41.10.2 PING 10.41.10.2 (10.41.10.2) 56(84) bytes of data. 64 bytes from 10.41.10.2: icmp_seq=1 ttl=64 time=0.577 ms 64 bytes from 10.41.10.2: icmp_seq=2 ttl=64 time=0.157 ms 64 bytes from 10.41.10.2: icmp_seq=3 ttl=64 time=1.34 ms ^C --- 10.41.10.2 ping statistics --- 3 packets transmitted, 3 received, 0% packet loss, time 2083ms rtt min/avg/max/mdev = 0.157/0.692/1.344/0.491 ms ``` My IP settings on the client (autopilot) ```auto nsh> netman show DEVICE=eth0 BOOTPROTO=fallback NETMASK=255.255.255.0 IPADDR=10.41.10.2 ROUTER=10.41.10.254 DNS=10.41.10.254 ``` My IP settings on the agent (companion computer) ```auto uavpi2@raspberrypi:~$ ifconfig eth0: flags=4163 mtu 1500 inet 10.41.10.1 netmask 255.255.255.0 broadcast 10.41.10.255 inet6 fe80::a263:3d00:389b:3425 prefixlen 64 scopeid 0x20 ether e4:5f:01:ca:97:5c txqueuelen 1000 (Ethernet) RX packets 5043 bytes 332097 (332.0 KB) RX errors 0 dropped 0 overruns 0 frame 0 TX packets 301 bytes 17282 (17.2 KB) TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0 ``` Also my MAV2 settings are ![Screenshot from 2024-11-01 21-52-23](https://discuss.px4.io/uploads/default/original/3X/1/b/1bdb2eda6d4ea33fb23abf560845cc62b63b119e.png) Can someone please help me establish the XRCE communication? ---
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [November 1, 2024, 8:21pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/2 "2024-11-01T20:21:34Z")
Hey, Thanks for bringing this up! I need to update the [docs](https://docs.px4.io/main/en/companion_computer/holybro_pixhawk_rpi_cm4_baseboard.html) for that. Meanwhile, could you try to see if Jetson docs work? > **[Holybro Pixhawk Jetson Baseboard | PX4 Guide (main)](https://docs.px4.io/main/en/companion_computer/holybro_pixhawk_jetson_baseboard.html#xrce-client-serial-port-setup)** > > PX4 User and Developer Guide There should be a trick here probably. RPi does not have internal switch so I need to reproduce this and see how you should set the network up. Plz let me know how it goes! ---
**Author:** ![psvs](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/839c29/32.png) [@psvs](https://discuss.px4.io/u/psvs)\ **Post date:** [November 1, 2024, 9:18pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/3 "2024-11-01T21:18:56Z")
Hi! Thanks for replying. I have gone through the docs, and I believe I have implemented it as it is described, except for the place where I did not disable MAVLink on the PX4 `Ethernet` port. I have corrected this. However, the issue still persists. ```auto uavpi2@raspberrypi:~$ MicroXRCEAgent udp4 -p 8888 [1727459881.812800] info | UDPv4AgentLinux.cpp | init | running... | port: 8888 [1727459881.815358] info | Root.cpp | set_verbose_level | logger setup | verbose_level: 4 ``` The updated parameters are: ![Screenshot from 2024-11-02 02-46-27](https://discuss.px4.io/uploads/default/original/3X/c/e/cee68b05c24040e076682c05655aeb769ff8aa54.png) ![Screenshot from 2024-11-02 02-46-36](https://discuss.px4.io/uploads/default/original/3X/c/7/c73cb970721cba79dabc908a721be8ed405936ed.png) ---
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [November 2, 2024, 8:29pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/4 "2024-11-02T20:29:33Z")
could you share the output of `dmesg` on nuttx shell and output of `ip route` on your pi? The next step you can try: - Disable `UAVCAN_ENABLE` by setting it to 0 and reboot Pixhawk see if the agent loads correctly. ---
**Author:** ![psvs](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/839c29/32.png) [@psvs](https://discuss.px4.io/u/psvs)\ **Post date:** [November 2, 2024, 8:58pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/5 "2024-11-02T20:58:23Z")
Here is the output from Nuttx shell ```auto nsh> dmesg HW arch: PX4_FMU_V6X HW type: V6X HW FMUM ID: 0x008 HW BASE ID: 0x000 PX4 git-hash: 93eef0c78719a9ac972d46593262c76c978ed3c4 PX4 version: 1.15.1 0 (17760512) OS: NuttX OS version: Release 11.0.0 (184549631) OS git-hash: 5d74bc138955e6f010a38e0f87f34e9a9019aecc Build datetime: Oct 27 2024 15:57:00 Build uri: localhost Build variant: default Toolchain: GNU GCC, 13.2.1 20231009 PX4GUID: 000600000000303736303532510c00480020 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter default file /fs/mtd_params INFO [param] importing from '/fs/mtd_params' INFO [parameters] BSON document size 3220 bytes, decoded 3220 bytes (INT32:66, FLOAT:89) INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/4001_quad_x INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes INFO [px4io] IO FW CRC match Board sensors: /etc/init.d/rc.board_sensors icm45686 #0 on SPI bus 3 icm45686 #1 on SPI bus 2 icm45686 #2 on SPI bus 1 rotation 10 bmm150 #0 on I2C bus 4 (external) address 0x10 WARN [SPI_I2C] ist8310: no instance started (no device on bus?) icp201xx #0 on I2C bus 4 (external) address 0x64 bmp388 #0 on I2C bus 2 (external) address 0x76 WARN [SPI_I2C] ms5611: no instance started (no device on bus?) WARN [vehicle_angular_velocity] no gyro selected, using sensor_gyro_fifo:0 3407898 ekf2 [558:237] Board mavlink: /etc/init.d/rc.board_mavlink Starting Main GPS on /dev/ttyS7 Starting MAVLink on /dev/ttyS6 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS6 @ 57600B Starting UXRCE-DDS Client on ethernet INFO [uxrce_dds_client] init UDP agent IP:10.41.10.1, port:8888 INFO [cdcacm_autostart] Starting CDC/ACM autostart INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver WARN [health_and_arming_checks] Preflight Fail: No connection to the ground control station INFO [cdcacm_autostart] Starting mavlink on /dev/ttyACM0 (SYS_USB_AUTO=2) INFO [mavlink] mode: Onboard, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B INFO [mavlink] Starting mavlink shell ``` and here is the output from rpi ```auto uavpi2@raspberrypi:~$ ip route default via 10.41.10.254 dev eth0 proto static metric 100 default via 192.168.41.176 dev wlan0 proto dhcp src 192.168.41.2 metric 600 10.41.10.0/24 dev eth0 proto kernel scope link src 10.41.10.1 metric 100 192.168.41.0/24 dev wlan0 proto kernel scope link src 192.168.41.2 metric 600 ``` I have tried disabling `UAVCAN` and rebooting Pixhawk, but nothing has changed on the agent side. ---
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [November 3, 2024, 1:50am UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/6 "2024-11-03T01:50:43Z")
could you enable your mavlink instance for ethernet? ---
**Author:** ![psvs](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/839c29/32.png) [@psvs](https://discuss.px4.io/u/psvs)\ **Post date:** [November 3, 2024, 1:26pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/7 "2024-11-03T13:26:25Z")
I’ve tried that. ```auto nsh> mavlink status instance #0: mavlink chan: #0 type: GENERIC LINK OR RADIO flow control: ON rates: tx: 781.2 B/s txerr: 0.0 B/s tx rate mult: 0.329 tx rate max: 1200 B/s rx: 0.0 B/s rx loss: 0.0% FTP enabled: YES, TX enabled: YES mode: Normal Forwarding: On MAVLink version: 1 transport protocol: serial (/dev/ttyS6 @57600) instance #1: mavlink chan: #1 type: GENERIC LINK OR RADIO flow control: OFF rates: tx: 0.0 B/s txerr: 483.5 B/s tx rate mult: 0.050 tx rate max: 100000 B/s rx: 0.0 B/s rx loss: 0.0% FTP enabled: YES, TX enabled: YES mode: Onboard Forwarding: Off MAVLink version: 1 transport protocol: UDP (14540, remote port: 14540) Broadcast enabled: YES instance #2: GCS heartbeat valid mavlink chan: #2 type: USB CDC flow control: ON rates: tx: 21228.4 B/s txerr: 0.0 B/s tx rate mult: 1.000 tx rate max: 100000 B/s rx: 621.2 B/s rx loss: 0.0% Received Messages: sysid:255, compid:190, Total: 17532 (lost: 0) msgid: 126, Rate: 0.1 Hz, last 0.04s ago msgid: 4, Rate: 1.0 Hz, last 0.66s ago msgid: 0, Rate: 1.0 Hz, last 0.39s ago msgid: 69, Rate: 25.0 Hz, last 0.06s ago FTP enabled: YES, TX enabled: YES mode: Onboard Forwarding: On MAVLink version: 2 transport protocol: serial (/dev/ttyACM0 @2000000) ping statistics: last: 1.12 ms mean: 1.01 ms max: 21.32 ms min: 0.16 ms dropped packets: 0 ``` ---
**Author:** ![psvs](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/839c29/32.png) [@psvs](https://discuss.px4.io/u/psvs)\ **Post date:** [November 3, 2024, 1:38pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/8 "2024-11-03T13:38:41Z")
I have also tried testing with the [all\_params](https://github.com/mavlink/MAVSDK-Python/blob/e69aab8213918e6947453e764aac639d764b6fa4/examples/all_params.py) file mavsdk. Even that was not working. ```auto uavpi2@raspberrypi:~/tests$ python3 all_params.py ``` ---
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [November 3, 2024, 9:12pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/9 "2024-11-03T21:12:20Z")
`sudo ip route del default via 10.41.10.254 dev eth0` This first route does not seem right. Please also try the command above and lmk. Just be sure you don have it appearing again. This will do a momentary removal of that route. So you may want to check again your `ip route` after. ---
**Author:** ![psvs](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/839c29/32.png) [@psvs](https://discuss.px4.io/u/psvs)\ **Post date:** [November 4, 2024, 8:15am UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/10 "2024-11-04T08:15:13Z")
Hey, I’ve tried that. But didn’t work out. _I found the issue, though. It seems my firewall was blocking the udp traffic. I created a rule to allow the traffic, and it worked._ Also, there seems to be an error in the [PX4 documentation](https://docs.px4.io/main/en/advanced_config/ethernet_setup.html#px4-mavlink-serial-port-configuration). ```auto network: version: 2 renderer: NetworkManager ethernets: enp2s0: addresses: - 10.41.10.1/24 nameservers: addresses: [10.41.10.1] routes: - to: 10.41.10.1 via: 10.41.10.1 ``` The route destination should be `0.0.0.0/0` instead of `10.41.10.1`. Please confirm. Thanks again for your inputs. ---
**Author:** ![farhang](https://discuss.px4.io/user_avatar/discuss.px4.io/farhang/32/17881_2.png) [@farhang](https://discuss.px4.io/u/farhang)\ **Post date:** [November 4, 2024, 2:55pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/11 "2024-11-04T14:55:55Z")
Thank you, But you mentioned you followed [Jetson Docs](https://docs.px4.io/main/en/companion_computer/holybro_pixhawk_jetson_baseboard.html#ethernet-setup-using-netplan) as well, right? I think it is same as what you mentioned which is same as removing the route tempoarily from the command I mentioned earlier. I will update the docs. ---
**Author:** ![psvs](https://discuss.px4.io/letter_avatar_proxy/v4/letter/p/839c29/32.png) [@psvs](https://discuss.px4.io/u/psvs)\ **Post date:** [November 4, 2024, 3:17pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/12 "2024-11-04T15:17:14Z")
Yeah, the documentation in [jetson docs](https://docs.px4.io/main/en/companion_computer/holybro_pixhawk_jetson_baseboard.html#ethernet-setup-using-netplan) is fine. I was able to ping from both devices following that. In my case firewall was the issue. ---
**Author:** ![rroche](https://discuss.px4.io/user_avatar/discuss.px4.io/rroche/32/17635_2.png) [@rroche](https://discuss.px4.io/u/rroche)\ **Post date:** [November 4, 2024, 4:31pm UTC](https://discuss.px4.io/t/need-help-connecting-companion-computer-using-ethernet-on-rpi/42247/13 "2024-11-04T16:31:22Z")