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
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
catkin_make
.
$ export PYTHONPATH=${PYTHONPATH}:/path/to/python-sdk
import naoqi
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
sudo apt-get install lua5.2* libmnl* libsensors* libjson0 libjson0-dev
make
tar -xv libsodium*tar* cd libsodium* ./configure make && make check sudo make install
If you get an error like below while launching roslaunch openni_launch openni.launch
[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].
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.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 :
<!-- 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>
From the terminal:
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'
Project report by Yiqiao Chen: rappot_final_projet_205_v2.pdf: web_video_server replaced webrtc
http://wiki.ros.org/nao/Tutorials