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Bridging ROS and xAAL
Running the demo
roscore rosrun openni_tracker openni_tracker roslaunch openni_launch openni.launch
Check (optional)
rosrun image_view image_view image:=/camera/rgb/image_color
To open the web streaming
rosrun web_video_server web_video_server
and open a browser and go directly to
http://0.0.0.0:8080/stream_viewer?topic=/camera/rgb/image_color
or see all available images on
http://0.0.0.0:8080
Connect the computer and nao on the same network and get their ips
roslaunch nao_bringup nao_full_py.launch nao_ip:=10.77.3.26 roscore_ip:=10.77.3.109
Install
- Install ros. You will have created a catkin workspace CATKIN_WS (for instance ~/catkin_ws)
- Install 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
catkin_make
.
- Install the ros packages for kinect : openni_tracker and openni_launch
- Install ROS packages for NAO with the instructions from http://wiki.ros.org/nao/Tutorials/Installation
- download from 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:
$ export PYTHONPATH=${PYTHONPATH}:/path/to/python-sdk
- check the installation with python
import naoqi
- ROS packages for the Nao robot
sudo apt-get install ros-indigo-driver-base ros-indigo-move-base-msgs ros-indigo-octomap ros-indigo-octomap-msgs ros-indigo-humanoid-msgs ros-indigo-humanoid-nav-msgs ros-indigo-camera-info-manager ros-indigo-camera-info-manager-py sudo apt-get install ros-indigo-nao-robot
- Install xAAL
- download from http://recherche.telecom-bretagne.eu/xaal/software/
- revert to version 1271
- install all dependencies
sudo apt-get install lua5.2* libmnl* libsensors* libjson0 libjson0-dev
- go to folder xAAL/code/C/trunk/libxaal and execute
make