Issues with naoqi driver and bridge

[anurag-b]

Hello All,

I am getting the following error as I try to run the following command -

roslaunch nao_bringup nao_full.launch nao_ip:=10.0.0.224 roscore_ip:=10.0.0.52

Error -

`... logging to /home/cvl/.ros/log/7de6e3e2-a0bd-11e8-b486-c48e8ffaa3c3/roslaunch-cvl-nao-9939.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cvl-nao:38346/

SUMMARY

PARAMETERS

• /nao_robot/pose/pose_manager/poses/init/joint_names: ['Body']
• /nao_robot/pose/pose_manager/poses/init/positions: [0.0, 0.0, 1.39, ...
• /nao_robot/pose/pose_manager/poses/init/time_from_start: 1.5
• /nao_robot/pose/pose_manager/poses/zero/joint_names: ['Body']
• /nao_robot/pose/pose_manager/poses/zero/positions: [0.0, 0.0, 0.0, 0...
• /nao_robot/pose/pose_manager/poses/zero/time_from_start: 1.5
• /nao_robot/pose/pose_manager/xap: /home/cvl/nao/nao...
• /rosdistro: indigo
• /rosversion: 1.11.21

NODES
/nao_robot/pose/
pose_controller (naoqi_pose/pose_controller.py)
pose_manager (naoqi_pose/pose_manager.py)
/nao_robot/
naoqi_driver (naoqi_driver/naoqi_driver_node)

auto-starting new master
process[master]: started with pid [9951]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7de6e3e2-a0bd-11e8-b486-c48e8ffaa3c3
process[rosout-1]: started with pid [9964]
started core service [/rosout]
process[nao_robot/naoqi_driver-2]: started with pid [9975]
process[nao_robot/pose/pose_controller-3]: started with pid [9982]
process[nao_robot/pose/pose_manager-4]: started with pid [9983]
Traceback (most recent call last):
File "/home/cvl/nao/nao_ws/src/naoqi_bridge/naoqi_pose/nodes/pose_controller.py", line 49, in
from naoqi_driver.naoqi_node import NaoqiNode
File "/home/cvl/nao/nao_ws/devel/lib/python2.7/dist-packages/naoqi_driver/init.py", line 35, in
exec(__fh.read())
File "", line 29, in
File "/home/cvl/nao/nao_ws/src/naoqi_bridge/naoqi_driver_py/src/naoqi_driver/naoqi_node.py", line 37, in
raise RuntimeError("Error importing NaoQI. Please make sure that Aldebaran's NaoQI API is in your PYTHONPATH.")
RuntimeError: Error importing NaoQI. Please make sure that Aldebaran's NaoQI API is in your PYTHONPATH.
Receiving information about robot model
[W] 9975 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s
[nao_robot/pose/pose_controller-3] process has died [pid 9982, exit code 1, cmd /home/cvl/nao/nao_ws/src/naoqi_bridge/naoqi_pose/nodes/pose_controller.py --pip=10.0.0.224 --pport=9559 __name:=pose_controller __log:=/home/cvl/.ros/log/7de6e3e2-a0bd-11e8-b486-c48e8ffaa3c3/nao_robot-pose-pose_controller-3.log].
log file: /home/cvl/.ros/log/7de6e3e2-a0bd-11e8-b486-c48e8ffaa3c3/nao_robot-pose-pose_controller-3*.log
[W] 9975 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to [[m]]
set prefix successfully to naoqi_driver
[I] 9975 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 9975 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:34053
[I] 9975 qimessaging.transportserver: TransportServer will listen on: tcp://10.0.0.52:34053
using ip address: 10.0.0.52 @ eth0
found a catkin prefix /opt/ros/indigo/share/naoqi_driver/share/boot_config.json
load boot config from /opt/ros/indigo/share/naoqi_driver/share/boot_config.json
found a catkin URDF /opt/ros/indigo/share/naoqi_driver/share/urdf/nao.urdf
Audio Extractor: Start
RightBumperPressed
LeftBumperPressed
ROS-Driver-RightBumperPressed : Start
HandRightBackTouched
HandRightLeftTouched
HandRightRightTouched
HandLeftBackTouched
HandLeftLeftTouched
HandLeftRightTouched
ROS-Driver-HandRightBackTouched : Start
FrontTactilTouched
MiddleTactilTouched
RearTactilTouched
ROS-Driver-FrontTactilTouched : Start
registered subscriber: teleop
registered subscriber: moveto
registered subscriber: speech
nodehandle reset
Could not find network interface named eth0, possible interfaces are ... lo wlan0
================================================================================REQUIRED process [nao_robot/naoqi_driver-2] has died!
process has died [pid 9975, exit code 1, cmd /opt/ros/indigo/lib/naoqi_driver/naoqi_driver_node --qi-url=tcp://10.0.0.224:9559 --roscore_ip=10.0.0.52 --network_interface=eth0 --namespace=naoqi_driver __name:=naoqi_driver __log:=/home/cvl/.ros/log/7de6e3e2-a0bd-11e8-b486-c48e8ffaa3c3/nao_robot-naoqi_driver-2.log].
log file: /home/cvl/.ros/log/7de6e3e2-a0bd-11e8-b486-c48e8ffaa3c3/nao_robot-naoqi_driver-2*.log
Initiating shutdown!

[nao_robot/pose/pose_manager-4] killing on exit
[nao_robot/naoqi_driver-2] killing on exit
[FATAL] [WallTime: 1534359637.629640] Could not connect to required "joint_trajectory" action server, is the nao_controller node running?
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
`

I also tried running the driver to check issues with the driver by running the following command -

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=10.0.0.19 roscore_ip:=10.0.0.52

Error -
`... logging to /home/cvl/.ros/log/c1b6ec16-a0bd-11e8-9276-c48e8ffaa3c3/roslaunch-cvl-nao-10036.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cvl-nao:45739/

SUMMARY

PARAMETERS

• /rosdistro: indigo
• /rosversion: 1.11.21

NODES
/
naoqi_driver (naoqi_driver/naoqi_driver_node)

auto-starting new master
process[master]: started with pid [10048]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c1b6ec16-a0bd-11e8-9276-c48e8ffaa3c3
process[rosout-1]: started with pid [10061]
started core service [/rosout]
process[naoqi_driver-2]: started with pid [10068]
Receiving information about robot model
[W] 10068 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s
[W] 10068 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to [[m]]
set prefix successfully to naoqi_driver
[I] 10068 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 10068 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:40908
[I] 10068 qimessaging.transportserver: TransportServer will listen on: tcp://10.0.0.52:40908
using ip address: 10.0.0.52 @ eth0
found a catkin prefix /opt/ros/indigo/share/naoqi_driver/share/boot_config.json
load boot config from /opt/ros/indigo/share/naoqi_driver/share/boot_config.json
found a catkin URDF /opt/ros/indigo/share/naoqi_driver/share/urdf/nao.urdf
Audio Extractor: Start
RightBumperPressed
LeftBumperPressed
ROS-Driver-RightBumperPressed : Start
HandRightBackTouched
HandRightLeftTouched
HandRightRightTouched
HandLeftBackTouched
HandLeftLeftTouched
HandLeftRightTouched
ROS-Driver-HandRightBackTouched : Start
FrontTactilTouched
MiddleTactilTouched
RearTactilTouched
ROS-Driver-FrontTactilTouched : Start
registered subscriber: teleop
registered subscriber: moveto
registered subscriber: speech
nodehandle reset
Could not find network interface named eth0, possible interfaces are ... lo wlan0
================================================================================REQUIRED process [naoqi_driver-2] has died!
process has died [pid 10068, exit code 1, cmd /opt/ros/indigo/lib/naoqi_driver/naoqi_driver_node --qi-url=tcp://10.0.0.19:9559 --roscore_ip=10.0.0.52 --network_interface=eth0 --namespace=naoqi_driver __name:=naoqi_driver __log:=/home/cvl/.ros/log/c1b6ec16-a0bd-11e8-9276-c48e8ffaa3c3/naoqi_driver-2.log].
log file: /home/cvl/.ros/log/c1b6ec16-a0bd-11e8-9276-c48e8ffaa3c3/naoqi_driver-2*.log
Initiating shutdown!

[naoqi_driver-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
`

Please suggest the possible solution or a guide to follow to get the robot working with ROS interface. The ROS wiki is not quite informative and there needs to be a better tutorial for the same.

[kochigami]

Hi,
I found two error messages in your log.
I hope these explanations help you.

1. both launch files: Could not find network interface named eth0, possible interfaces are ... lo wlan0

Please check if you use wlan0 or lo by ifconfig.
Then, please add network_interface argument like this.
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=10.0.0.19 roscore_ip:=10.0.0.52 network_interface:=wlan0

I also think we don't have to set roscore_ip argument, but I'm not sure.

2. nao_full.launch: Please make sure that Aldebaran's NaoQI API is in your PYTHONPATH.") RuntimeError: Error importing NaoQI. Please make sure that Aldebaran's NaoQI API is in your PYTHONPATH.

Please install Python NAOqi SDK.
That is because nodes in pose_manager.launch require NaoqiNode, which require Python Naoqi SDK.

I put a link of README in my laboratory which explains how to install and set it.
https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_naoqi_robot/README.md
Please see jsk_naoqi_robot => Setup Environment => 1,2
This part in step2 explains how to set PYTHONPATH in your .bashrc file.

export PYTHONPATH=$HOME/pynaoqi/<your Python SDK package name>:$PYTHONPATH