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--- smarthome:ros_xaal [2017/03/31 08:25]
mai tag, report
+++ smarthome:ros_xaal [2020/07/04 15:23] (current)
66.249.75.59 ↷ Links adapted because of a move operation
@@ Line 1: / Line 1: @@
 ====== Bridging ROS and xAAL ======
-{{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 [[smarthome: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
 ===== Running the demo =====
@@ Line 33: / 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 60: / 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 =====
+==== Kinect nodes ====
+If you get an error like below while launching  ''roslaunch openni_launch openni.launch''
+<code>
+[FATAL] [1505723416.829285686]: Failed to load nodelet '/camera/points_xyzrgb_sw_registered` of type `depth_image_proc/point_cloud_xyzrgb` to manager `camera_nodelet_manager'
+[FATAL] [1505723416.829758876]: Failed to load nodelet '/camera/disparity_depth` of type `depth_image_proc/disparity` to manager `camera_nodelet_manager'
+[camera/points_xyzrgb_sw_registered-12] process has died [pid 18701, exit code 255, cmd /opt/ros/indigo/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/ihsev/.ros/log/551a83f0-9c4b-11e7-8d73-002710a3474c/camera-points_xyzrgb_sw_registered-12.log].
+</code>
+ the problem seems to be with memory allocation, Try typing this command in the same terminal where you get this error ''killall XnSensorServer''. then try launching the node again. If the process dies again, ''ctrl+c'' and then type the killall command again (it should say no processes found). Then try launching the node again.
+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>
@@ Line 65: / Line 117: @@
 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