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costashatz / nao_gazebo

ROS Packages to simulate Aldebaran's NAO Humanoid in Gazebo through NAOqi Simulator SDK
BSD 3-Clause "New" or "Revised" License
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Problem "qimessaging.transportsocket: connect: Connection refused" #6

Open jokla opened 8 years ago

jokla commented 8 years ago

Hi,

I am not able to start the plugin correctly. I get the warning: [W] 7185 qimessaging.transportsocket: connect: Connection refused And I cannot connect to the virtual robot. It seems that the HAL or Naoqi are not initialized correctly.

Which version of the simulator and naoqi-sdk are you using?

I have:

AL_SIM_DIR=/home/jokla/Software/romeo/simulator-sdk-2.1.2.17-linux64
AL_DIR=/home/jokla/Software/romeo/naoqi-sdk-2.1.2.17-linux64
Ubuntu 14.04
Gazebo 2.2.3 and after updated to 2.2.6 --> same problem

This is what I get:

process[master]: started with pid [6974]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to c76eadb4-eb53-11e5-89ef-f01faf21e4b4
process[rosout-1]: started with pid [6987]
started core service [/rosout]
process[gazebo-2]: started with pid [7004]
process[gazebo_gui-3]: started with pid [7008]
process[spawn_urdf-4]: started with pid [7012]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.[ INFO] [1458118078.203690394]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master[ INFO] [1458118078.204253871]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 131.254.14.80

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 131.254.14.80
Error [Param.cc:181] Unable to set value [1,0471975511965976] for key[horizontal_fov]
Error [Param.cc:181] Unable to set value [0,100000001] for key[near]
[spawn_urdf-4] process has finished cleanly
log file: /home/jokla/.ros/log/c76eadb4-eb53-11e5-89ef-f01faf21e4b4/spawn_urdf-4*.log
[E] 7129 posture: PostureLibrary::loadLibraryFromFile: cannot open file ""
[W] 7185 qimessaging.transportsocket: connect: Connection refused
[W] 7183 qimessaging.transportsocket: connect: Connection refused
[W] 7181 qimessaging.transportsocket: connect: Connection refused
[ INFO] [1458118084.091845629]: GazeboNaoqiControlPlugin loaded successfully!
[W] 7179 qimessaging.transportsocket: connect: Connection refused
[W] 7185 qimessaging.transportsocket: connect: Connection refused
[W] 7182 qimessaging.transportsocket: connect: Connection refused
[W] 7185 qimessaging.transportsocket: connect: Connection refused
[W] 7184 qimessaging.transportsocket: connect: Connection refused

Thanks in advance!

jokla commented 8 years ago

I installed everything in another pc and it is working... (I have the same OS and the same version of the other software). I don't understand why in my pc it is not working, It seems that HAL and Naoqi are not initializing properly, but I don't get any error.

costashatz commented 8 years ago

I installed everything in another pc and it is working... (I have the same OS and the same version of the other software). I don't understand why in my pc it is not working, It seems that HAL and Naoqi are not initializing properly, but I don't get any error.

This is weird. I currently am not using NAO and nao_gazebo, but if you have some time it'd be great to investigate it.

pee-darp commented 4 years ago

I have a similar issue. I am running ubuntu 16.04 | Ros Kinetic | Gazebo 7 | PyQt 4.11.4 After launching nao_gazebo.launch , I am not able to use choreographe to connect to Virtual Nao.

This is my nao_gazebo.launch output:

~/catkin$ roslaunch gazebo_naoqi_control nao_gazebo.launch

SUMMARY
========

PARAMETERS
 * /gazebo_robot_description: <?xml version="1....
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadPitch/d: 1.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadPitch/i: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadPitch/p: 1000.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadYaw/d: 1.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadYaw/i: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadYaw/p: 1000.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnklePitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnklePitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnklePitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnkleRoll/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnkleRoll/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnkleRoll/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowRoll/d: 0.3
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowRoll/i: 0.7
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowRoll/p: 30.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowYaw/d: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowYaw/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowYaw/p: 110.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHand/d: 3.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHand/i: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHand/p: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipPitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipPitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipPitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipRoll/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipRoll/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipRoll/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipYawPitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipYawPitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipYawPitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LKneePitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LKneePitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LKneePitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderPitch/d: 2.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderPitch/i: 4.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderPitch/p: 80.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderRoll/d: 0.7
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderRoll/i: 5.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderRoll/p: 50.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LWristYaw/d: 0.01
 * /nao_dcm/gazebo_ros_control/pid_gains/LWristYaw/i: 0.13
 * /nao_dcm/gazebo_ros_control/pid_gains/LWristYaw/p: 1.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnklePitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnklePitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnklePitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnkleRoll/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnkleRoll/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnkleRoll/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowRoll/d: 0.3
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowRoll/i: 0.7
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowRoll/p: 30.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowYaw/d: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowYaw/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowYaw/p: 110.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHand/d: 3.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHand/i: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHand/p: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipPitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipPitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipPitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipRoll/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipRoll/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipRoll/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipYawPitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipYawPitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipYawPitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RKneePitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RKneePitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RKneePitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderPitch/d: 2.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderPitch/i: 4.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderPitch/p: 80.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderRoll/d: 0.7
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderRoll/i: 5.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderRoll/p: 50.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RWristYaw/d: 0.01
 * /nao_dcm/gazebo_ros_control/pid_gains/RWristYaw/i: 0.13
 * /nao_dcm/gazebo_ros_control/pid_gains/RWristYaw/p: 1.0
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    spawn_urdf (gazebo_ros/spawn_model)

ROS_MASTER_URI=http://localhost:11311

WARNING: Package name "Nao-Control" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
process[gazebo-1]: started with pid [2664]
process[gazebo_gui-2]: started with pid [2669]
process[spawn_urdf-3]: started with pid [2674]
WARNING: Package name "Nao-Control" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "Nao-Control" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "Nao-Control" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "Nao-Control" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
[ INFO] [1587408676.162750499]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1587408676.163418951]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1587408676.192184630]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1587408676.192648694]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Qt: Cannot set locale modifiers: 
[spawn_urdf-3] process has finished cleanly
log file: /home/snbenge/.ros/log/96f98da0-8336-11ea-af14-10e7c63c0713/spawn_urdf-3*.log

This is my output after ./choreographe

Qt: Cannot set locale modifiers: 

[I] 3823 Choregraphe: Starting Choregraphe 2.1.4.13

NAOqiError: Filename that store port: /tmp/{aaffd5a1-52e9-4bea-9fb0-7c49d051ed35}
Port: 44547
[I] 3823 qimessaging.session: Session listener created on tcp://127.0.0.1:0

[I] 3823 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:44073

NAOqiError: [E] 4022 behavior.ALFrameManager: ALPreferenceManager.getValue did not return a string, but returned: 
[E] 4048 audio.DeviceManager: no suitable plugin found
[E] 4022 modularity.private: Can't set data for source "FaceDetection_Status": source unknown.
[E] 4022 Thinking: Error occurred during thinking while getting info of animation package animations:
Package animations does not exist in database.
[E] 4022 UserSessionManager: Could not connect to either UserSession, BasicAwareness, or PeoplePerception. UserSessionManager will be inactive.
[I] 3823 con.connection: Error while creating proxy to ALVisionRecognition:
Cannot find service 'ALVisionRecognition' in index
[I] 3823 con.connection: Error while creating proxy to ALMemoryWatcher:
Cannot find service 'ALMemoryWatcher' in index

[I] 3823 con.connection: Error while creating proxy to ALAudioDevice:
Cannot find service 'ALAudioDevice' in index

[I] 3823 con.connection: Error while creating proxy to ALBasicAwareness:
Cannot find service 'ALBasicAwareness' in index

[E] 3823 qitype.object: No such property 101

[E] 3823 qitype.object: No such signal 101

[E] 3823 qitype.object: No such property 100

[E] 3823 qitype.object: No such signal 100

NAOqiError: [E] 4014 vision.videodevice.camerasimulator2d: _getDirectRawImageBuffer(): Could not get image for subscriber.
Please check that the simulator is running.
NAOqiError: [E] 4016 vision.videodevice.camerasimulator3d: _getDirectRawImageBuffer(): Could not get image for subscriber.
Please check that the simulator is running.
NAOqiError: [E] 4012 vision.videodevice.camerasimulator3d: _getDirectRawImageBuffer(): Could not get image for subscriber.
Please check that the simulator is running.
costashatz commented 4 years ago

@pee-darp thanks for using our package.

First, please follow the instructions here to connect correctly to Choreographe: https://www.youtube.com/watch?v=tCxDxJ5u6KU

Secondly, this seems like an installation issue of the NAOqi components and not an issue of this repo. Also, currently I do not have access to a NAO and thus I cannot replicate your issue somehow. I can try to help though. Is choreographe even opening? Do you see a GUI for choreographe (like the one in the video above)?

pee-darp commented 4 years ago

@costashatz thank you for the response.

Yes choregraphe does open with GUI. This is how I launch things:

1) ./choregraphe : Opens a gui. I choose new project and it automatically connects to a virtual robot. So I first disconnect. 2) I launch 'nao_gazebo.launch'. 3) I go to choregraphe and connect to the only option that I see. (It has 127.0.0.1 as the IP address) At this point, inside choregraphe, I should have seen NAO spawn with the same pose as in gazebo (according to the video), but NAO spawns in the default configuration. 4) I start the simulation in gazebo and NAO immediately falls instead of starting with stiffened joints as in the video.