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使用机器人操作系统 (ROS) 设置时，Ubuntu 18.04 上的网络连接断开

tag-icon • tag-icon networking routing ethernet
使用机器人操作系统 (ROS) 设置时，Ubuntu 18.04 上的网络连接断开

我有一个具有以下设置的机器人，并且 [计算机 A] 的以太网接口 (enp4s0) 随机掉线。

当计算机没有太多操作时，接口不会掉线。但是，当 [计算机 B] 开始通过 [计算机 A] 向 [我的电脑] 传输压缩图像流时，以太网接口会掉线。

因此，这似乎是一个配置问题，我可能无意中淹没了网络，导致网络连接中断，我想就此事获得一些建议。

dmesg 的输出没什么帮助

来自计算机 A 的 dmesg

[Mon Apr 12 13:43:33 2021] igb 0000:04:00.0 enp4s0: igb: enp4s0 NIC Link is Down
[Mon Apr 12 13:43:33 2021] br0: port 1(enp4s0) entered disabled state
[Mon Apr 12 13:43:35 2021] igb 0000:04:00.0 enp4s0: igb: enp4s0 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX/TX
[Mon Apr 12 13:43:35 2021] br0: port 1(enp4s0) entered blocking state
[Mon Apr 12 13:43:35 2021] br0: port 1(enp4s0) entered listening state
[Mon Apr 12 13:43:39 2021] br0: port 1(enp4s0) entered learning state
[Mon Apr 12 13:43:44 2021] br0: port 1(enp4s0) entered forwarding state
[Mon Apr 12 13:43:44 2021] br0: topology change detected, propagating
[Mon Apr 12 14:05:50 2021] igb 0000:04:00.0 enp4s0: igb: enp4s0 NIC Link is Down
[Mon Apr 12 14:05:50 2021] br0: port 1(enp4s0) entered disabled state
[Mon Apr 12 14:05:52 2021] igb 0000:04:00.0 enp4s0: igb: enp4s0 NIC Link is Up 1000 Mbps Full Duplex, Flow Control: RX/TX

我已经做的事情：

  1. 检查并更换了所有以太网电缆。
  2. 用备件更换所有计算机和传感器
  3. 在网桥上启用 STP，转发延迟为 4

不幸的是，由于机器人内部尺寸的限制，我无法将所有东西都连接到开关。

设置

SBC 设置

所有计算机都运行 Ubuntu 18.04，并且ROS 旋律莫雷尼亚。

我已经使用 netplan 设置了网桥，如下所示

# Netplan on Computer A
# Let NetworkManager manage all devices on this system
network:
  version: 2
  renderer: NetworkManager
  ethernets:
    #Computer B
    enp1s0:
      dhcp4: no
    #Sensor 
    enp2s0:
      dhcp4: no
    #SBC to switch
    enp4s0:
      dhcp4: no
      

  #Setup a bridge and link eno1 to it
  bridges:
    br0:
      interfaces: [enp1s0, enp2s0, enp4s0]
      addresses: [192.168.1.1/24]
      gateway4: 192.168.1.253
      nameservers:
        addresses: [8.8.8.8]
      dhcp4: no

我还尝试过其他方法：

启用端口转发并添加从 [计算机 B] 到 [计算机 A] 的路由，并在不同的子网上设置 NIC /etc/sysctl.conf：

net.ipv4.ip_forward = 1

计算机B

route add -net 192.168.2.0 netmask 255.255.255.0 gw 192.168.1.1

# Netplan on Computer A
# Let NetworkManager manage all devices on this system
network:
  version: 2
  renderer: NetworkManager
  ethernets:
    #Computer B
    enp1s0:
      addresses:
        - 192.168.2.1/24
      dhcp4: no
    #Sensor 
    enp2s0:
      addresses:
        - 192.168.3.1/24
      dhcp4: no
    #SBC to switch
    enp4s0:
      addresses:
        - 192.168.1.1/24
      dhcp4: no
      gateway4: 192.168.1.253      
      nameservers:
        addresses: [8.8.8.8, 8.8.4.4]

答案1

我发现 eno1 和 enp4s0 使用的是不同的驱动程序。所以我尝试切换两个接口，现在接口没有掉线。可能是过时的驱动程序导致了掉线。

sudo lspci -v

接口 eno1

Ethernet controller: Intel Corporation Ethernet Connection (6) I219-LM (rev 30)                                                                                                                      
Subsystem: Intel Corporation Ethernet Connection (6) I219-LM                                                                                                                                         
Flags: bus master, fast devsel, latency 0, IRQ 141                                                                                                                                                   
Memory at a1a00000 (32-bit, non-prefetchable) [size=128K]                                                                                                                                            
Capabilities: [c8] Power Management version 3                                                                                                                                                        
Capabilities: [d0] MSI: Enable+ Count=1/1 Maskable- 64bit+                                                                                                                                           
Kernel driver in use: e1000e                                                                                                                                                                         
Kernel modules: e1000e

接口 enp4s0

Ethernet controller: Intel Corporation I210 Gigabit Network Connection (rev 03)
Flags: bus master, fast devsel, latency 0, IRQ 17
Memory at a1780000 (32-bit, non-prefetchable) [size=512K]
I/O ports at 3000 [disabled] [size=32]
Memory at a1800000 (32-bit, non-prefetchable) [size=16K]
Expansion ROM at a1700000 [disabled] [size=512K]
Capabilities: [40] Power Management version 3
Capabilities: [50] MSI: Enable- Count=1/1 Maskable+ 64bit+
Capabilities: [70] MSI-X: Enable+ Count=5 Masked-
Capabilities: [a0] Express Endpoint, MSI 00
Capabilities: [100] Advanced Error Reporting
Capabilities: [140] Device Serial Number c4-00-ad-ff-ff-4c-52-bf
Capabilities: [1a0] Transaction Processing Hints
Kernel driver in use: igb
Kernel modules: igb

计算机 A 上的当前 netplan

network:
  version: 2
  renderer: NetworkManager
  ethernets:
    enp2s0:
      addresses:
        - 192.168.3.1/24
      dhcp4: no
    enp1s0:
      mtu: 1500
      addresses:
        - 192.168.2.1/24
      dhcp4: no
    eno1:
      mtu: 1500
      dhcp4: no
      addresses: [192.168.1.1/24]
      gateway4: 192.168.1.253
      nameservers:
        addresses: [8.8.4.4,8.8.8.8]
    enp4s0:
      mtu: 1500
      dhcp4: no
      addresses: [192.168.1.2/24]
      gateway4: 192.168.1.253
      nameservers:
        addresses: [8.8.4.4,8.8.8.8]

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