Differences

This shows you the differences between two versions of the page.

--- smarthome:ros_xaal [2017/09/18 09:03]
mai [Bridging ROS and xAAL]
+++ smarthome:ros_xaal [2020/07/03 17:31]
mai ↷ Links adapted because of a move operation
@@ Line 2: / Line 2: @@
 {{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 =====
@@ Line 34: / Line 35: @@
 ===== 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 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 :
       - Set the environnement variable PYTHONPATH to /path/to/python-sdk by doing for example: <code>
@@ Line 61: / Line 62: @@
 </code>
           - 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 =====
@@ Line 77: / Line 79: @@
 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 =====
 Project report by Yiqiao Chen: {{:report:rappot_final_projet_205_v2.pdf|}}: web_video_server replaced webrtc
+http://wiki.ros.org/nao/Tutorials
+http://wiki.ros.org/nao/Tutorials/Installation
+http://wiki.ros.org/nao_apps