Bridging ROS and xAAL

Current status (20170330) : the demo does not run. Nao can walk but can not speak, all the other parts work fine.

  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 and replace by their values in the following command :

  roslaunch nao_bringup nao_full_py.launch nao_ip:=10.77.3.26 roscore_ip:=10.77.3.109

Run nao_xaal : (Current status 20170330: this does not do anything as Nao does not speak)

   rosrun nao_xaal controller.py   

1. Install ros. You will have created a catkin workspace CATKIN_WS (for instance ~/catkin_ws)
2. 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

   .

3. Install the ros packages for kinect : openni_tracker and openni_launch
4. Install ROS packages for NAO with the instructions from http://wiki.ros.org/nao/Tutorials/Installation
   1. 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 :
   2. Set the environnement variable PYTHONPATH to /path/to/python-sdk by doing for example:

      $ export PYTHONPATH=${PYTHONPATH}:/path/to/python-sdk

   3. check the installation with python

              import naoqi

   4. 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 

5. Install xAAL
   1. download from http://recherche.telecom-bretagne.eu/xaal/software/
   2. revert to version 1271
   3. install all dependencies

      sudo apt-get install lua5.2* libmnl*  libsensors*  libjson0 libjson0-dev 

   4. go to folder xAAL/code/C/trunk/libxaal and execute

      make

   5. install pysodium
      1. install libsodium with instructions from https://download.libsodium.org/doc/installation/index.html#integrity-checking by downloading from https://download.libsodium.org/libsodium/releases/ the tar ball and run

         tar -xv libsodium*tar*
         cd libsodium*
         ./configure
         make && make check
         sudo make install

      2. download from https://pypi.python.org/pypi/pysodium the pysodium tar and install likewise