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smarthome:ros_xaal [2017/09/18 15:42] mai [References] |
smarthome:ros_xaal [2020/07/03 17:31] mai ↷ Links adapted because of a move operation |
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{{tag>xAAL howto Nao ROS}} | {{tag>xAAL howto Nao ROS}} | ||
- | Current status (20170330) : the demo does not run. Nao can walk but can not speak, all the other parts work fine. | + | Current status (20180120) : This program is for Nao. A new installation is being done for Pepper [[:xaal_ros_pepper]]. |
+ | |||
+ | The program is installed in folder ''~/catkin_ws/src/nao_xaal'' and the latest version is in https://redmine.telecom-bretagne.eu/projects/xaalros/repository | ||
- | The program is installed in folder ''~/catkin_ws/src/nao_xaal'' | ||
===== Running the demo ===== | ===== Running the demo ===== | ||
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===== Install ===== | ===== Install ===== | ||
- | - Install [[ros|ros]]. You will have created a catkin workspace CATKIN_WS (for instance ~/catkin_ws) | + | - Install [[:ros|ros]]. You will have created a catkin workspace CATKIN_WS (for instance ~/catkin_ws) |
- Install [[http://wiki.ros.org/web_video_server|web_video_server ROS package]]. In more detail, download the code from https://github.com/RobotWebTools/web_video_server and put the folder (with files package.xml and CMakeLists.txt) in CATKIN_WS/src. Then in CATKIN_WS, run <code>catkin_make</code>. | - Install [[http://wiki.ros.org/web_video_server|web_video_server ROS package]]. In more detail, download the code from https://github.com/RobotWebTools/web_video_server and put the folder (with files package.xml and CMakeLists.txt) in CATKIN_WS/src. Then in CATKIN_WS, run <code>catkin_make</code>. | ||
- Install the ros packages for kinect : [[http://wiki.ros.org/openni_tracker|openni_tracker]] and openni_launch | - Install the ros packages for kinect : [[http://wiki.ros.org/openni_tracker|openni_tracker]] and openni_launch | ||
- | - Install ROS packages for NAO with the instructions from http://wiki.ros.org/nao/Tutorials/Installation | + | - Install ROS packages for NAO with the instructions from http://wiki.ros.org/nao_robot, https://github.com/ros-naoqi/nao_robot, http://wiki.ros.org/nao/Tutorials/Installation |
- download from [[https://developer.softbankrobotics.com/us-en/downloads/nao-v3|aldebaran]] the Python SDK the compressed file Python 2.7 SDK 1.14.5 Linux 64 and install according to th instructions http://doc.aldebaran.com/1-14/dev/python/install_guide.html. In details : | - download from [[https://developer.softbankrobotics.com/us-en/downloads/nao-v3|aldebaran]] the Python SDK the compressed file Python 2.7 SDK 1.14.5 Linux 64 and install according to th instructions http://doc.aldebaran.com/1-14/dev/python/install_guide.html. In details : | ||
- Set the environnement variable PYTHONPATH to /path/to/python-sdk by doing for example: <code> | - Set the environnement variable PYTHONPATH to /path/to/python-sdk by doing for example: <code> | ||
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</code> | </code> | ||
- download from https://pypi.python.org/pypi/pysodium the pysodium tar and install likewise | - download from https://pypi.python.org/pypi/pysodium the pysodium tar and install likewise | ||
+ | - Configure the system by inputing the right xaaladdr of the various smart home devices in file ~/catkin_ws/src/nao_xaal/scripts/nao_xaal.conf | ||
===== Troubleshooting ===== | ===== Troubleshooting ===== | ||
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Ref : https://answers.ros.org/question/54863/camera_nodelet_manager-1-process-has-died-error-with-kinect/ | Ref : https://answers.ros.org/question/54863/camera_nodelet_manager-1-process-has-died-error-with-kinect/ | ||
+ | |||
+ | |||
+ | ==== Speech ==== | ||
+ | speech.launch in ''~/catkin_ws/src/nao_robot/nao_apps/launch'' | ||
+ | |||
+ | but command ''rosrun nao_apps nao_alife.py'' crashes | ||
+ | |||
+ | What worked : | ||
+ | |||
+ | |||
+ | I added to file ''nao_full_py.launch'' from ''catkin_ws/src/nao_robot/nao_bringup/launch'' the lines : | ||
+ | |||
+ | <code> | ||
+ | |||
+ | <!-- enable alife --> | ||
+ | <include file="$(find nao_apps)/launch/alife.launch" > | ||
+ | <arg name="nao_ip" value="$(arg nao_ip)" /> | ||
+ | </include> | ||
+ | |||
+ | <!-- enable speech --> | ||
+ | <include file="$(find nao_apps)/launch/speech.launch" > | ||
+ | <arg name="nao_ip" value="$(arg nao_ip)" /> | ||
+ | </include> | ||
+ | </code> | ||
+ | |||
+ | From the terminal: | ||
+ | |||
+ | <code> | ||
+ | roscore | ||
+ | roslaunch nao_apps speech.launch nao_ip:=10.77.3.26 roscore_ip:=10.77.3.103 network_interface:=wlan0 OU roslaunch nao_bringup nao_full_py.launch nao_ip:=10.77.3.26 roscore_ip:=10.77.3.103 network_interface:=wlan0 | ||
+ | rostopic pub /speech -1 std_msgs/String 'hello' | ||
+ | </code> | ||
+ | |||
+ | |||
===== References ===== | ===== References ===== | ||
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http://wiki.ros.org/nao/Tutorials/Installation | http://wiki.ros.org/nao/Tutorials/Installation | ||
+ | http://wiki.ros.org/nao_apps |