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smarthome:ros_xaal [2017/09/18 08:44]
mai added kinect troubleshooting
smarthome:ros_xaal [2020/07/04 15:23] (current)
66.249.75.59 ↷ 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 [[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 ===== ===== 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 =====
 Project report by Yiqiao Chen: {{:​report:​rappot_final_projet_205_v2.pdf|}}:​ web_video_server replaced webrtc 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
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