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kochigami / nao-euslisp-hydro-memo

This repository is used for memos about nao on euslisp, hydro
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pepperのサンプルコードをnaoで試す #26

Closed kochigami closed 9 years ago

kochigami commented 9 years ago

※日本語発話・認識はできないのでそこだけローマ字に直した ※test_pepper_sample_code_on_nao.lというファイルを実行したら nao_msgsっていうパッケージがないというエラーが出たので、ros::roseus-add-msgs "nao_msgs"を追加して解決

learn-face "かなさん"　（image_view2をみながら） [ WARN] [1416799724.957930863]: learn face fail 　（えっ）

t 2.irteusgl$ detect-face-demo [ INFO] [1416799736.771882716]: wait for face_detection/enable [ERROR] [1416799736.917647460]: Service call failed: service [/naovision/face\ detection/enable] responded with an error: service cannot process request: serv\ ice handler returned None [ERROR] [1416799736.917817504]: attempted to call service /nao_vision/face_det\ ection/enable, but failed [ INFO] [1416799736.935001834]: Detecting.... nil [ INFO] [1416799737.421653845]: Detecting.... nil [ INFO] [1416799737.921703688]: Detecting.... nil [ INFO] [1416799738.421663070]: Detecting.... nil [ INFO] [1416799738.923952152]: Detected 3 (0.543) [ INFO] [1416799738.924283526]: Detecting.... nil [ INFO] [1416799739.422108246]: wait for face_detection/disable [ERROR] [1416799739.432194427]: Service call failed: service [/naovision/face\ detection/disable] responded with an error: service cannot process request: ser\ vice handler returned None [ERROR] [1416799739.432239901]: attempted to call service /nao_vision/face_det\ ection/disable, but failed [ INFO] [1416799739.432322728]: speech hisashiburi　（ひさしぶりと話したので、覚えてくれていた）

kochigami commented 9 years ago

多分前のでlearn-faceがfailしてもひさしぶりと言ったのは、このプログラムを試す前の名残があったからだと思う。 learn-face "かな" [ WARN] [1416800213.516740613]: learn face success

t 7.B3-irteusgl$ detect-face-demo [ INFO] [1416800226.498869329]: wait for face_detection/enable [ERROR] [1416800226.610489958]: Service call failed: service [/nao_vision/face_detection/enable] responded with an error: service cannot process request: service handler returned None [ERROR] [1416800226.610645454]: attempted to call service /nao_vision/face_det\ ection/enable, but failed [ INFO] [1416800226.635022517]: Detecting.... nil [ INFO] [1416800227.116513627]: Detected 1 (0.904) [ INFO] [1416800227.116937231]: Detecting.... nil [ INFO] [1416800227.616783364]: wait for face_detection/disable [ERROR] [1416800227.655969977]: Service call failed: service [/nao_vision/face_detection/disable] responded with an error: service cannot process request: service handler returned None [ERROR] [1416800227.656148226]: attempted to call service /nao_vision/face_detection/disable, but failed [ INFO] [1416800227.656315349]: speech hisashiburi [ INFO] [1416800257.656613996]: wait for face_detection/enable [ERROR] [1416800257.811834061]: Service call failed: service [/nao_vision/face_detection/enable] responded with an error: service cannot process request: service handler returned None [ERROR] [1416800257.811997425]: attempted to call service /nao_vision/face_detection/enable, but failed [ INFO] [1416800257.823077914]: Detecting.... nil [ INFO] [1416800258.316258968]: Detecting.... nil [ INFO] [1416800258.816346531]: Detecting.... nil [ INFO] [1416800259.316345623]: Detecting.... nil [ INFO] [1416800259.816143381]: Detecting.... nil [ INFO] [1416800260.316325319]: Detecting.... nil [ INFO] [1416800260.816160080]: Detecting.... nil [ INFO] [1416800261.316399896]: Detecting.... nil みたいな感じで続いていく

名前を変えてlearn-faceしてfailした時は、はじめましてっていった

kochigami commented 9 years ago

forget-person "かな" [ WARN] [1416800497.688767652]: forget person success

t 9.B5-irteusgl$ detect-face-demo [ INFO] [1416800500.996485021]: wait for face_detection/enable [ERROR] [1416800501.008200886]: Service call failed: service [/nao_vision/face_detection/enable] responded with an error: service cannot process request: service handler returned None [ERROR] [1416800501.008356967]: attempted to call service /nao_vision/face_detection/enable, but failed [ INFO] [1416800501.067684577]: Detecting.... nil [ INFO] [1416800501.509267460]: Detecting.... nil [ INFO] [1416800502.009300955]: Detecting.... nil [ INFO] [1416800502.509165286]: Detecting.... nil [ INFO] [1416800503.008890048]: Detecting.... nil [ INFO] [1416800503.511204541]: Detected 2 (0.208) [ INFO] [1416800503.511342439]: Detecting.... nil [ INFO] [1416800504.011431215]: wait for face_detection/disable [ERROR] [1416800504.048454772]: Service call failed: service [/nao_vision/face_detection/disable] responded with an error: service cannot process request: service handler returned None [ERROR] [1416800504.048619901]: attempted to call service /nao_vision/face_detection/disable, but failed [ INFO] [1416800504.048798351]: speech hajime mashite

kochigami commented 9 years ago

forget-person "かな" [ WARN] [1416800497.688767652]: forget person success

t 9.B5-irteusgl$ detect-face-demo [ INFO] [1416800500.996485021]: wait for face_detection/enable [ERROR] [1416800501.008200886]: Service call failed: service [/nao_vision/face_detection/enable] responded with an error: service cannot process request: service handler returned None [ERROR] [1416800501.008356967]: attempted to call service /nao_vision/face_detection/enable, but failed [ INFO] [1416800501.067684577]: Detecting.... nil [ INFO] [1416800501.509267460]: Detecting.... nil [ INFO] [1416800502.009300955]: Detecting.... nil [ INFO] [1416800502.509165286]: Detecting.... nil [ INFO] [1416800503.008890048]: Detecting.... nil [ INFO] [1416800503.511204541]: Detected 2 (0.208) [ INFO] [1416800503.511342439]: Detecting.... nil [ INFO] [1416800504.011431215]: wait for face_detection/disable [ERROR] [1416800504.048454772]: Service call failed: service [/nao_vision/face_detection/disable] responded with an error: service cannot process request: service handler returned None [ERROR] [1416800504.048619901]: attempted to call service /nao_vision/face_detection/disable, but failed [ INFO] [1416800504.048798351]: speech hajime mashite

kochigami commented 9 years ago

まず顔を覚えてもらって、(learn-face), demo1実行時には顔を合わせてこんにちはと言ってもらう

demo1 [ INFO] [1416802407.883535534]: wait for face_detection/enable [ERROR] [1416802408.031087408]: Service call failed: service [/naovision/face\ detection/enable] responded with an error: service cannot process request: serv\ ice handler returned None [ERROR] [1416802408.031244191]: attempted to call service /nao_vision/face_det\ ection/enable, but failed [ INFO] [1416802408.053250599]: Detecting.... nil [ INFO] [1416802408.534963533]: imu #f(-0.10622 0.08446 0.990749) 0.990749 [ INFO] [1416802408.537461602]: Detected 3 (0.957) [ INFO] [1416802408.537754545]: Detecting.... nil [ INFO] [1416802409.036940531]: wait for face_detection/disable [ERROR] [1416802409.075850014]: Service call failed: service [/naovision/face\ detection/disable] responded with an error: service cannot process request: ser\ vice handler returned None [ERROR] [1416802409.075967328]: attempted to call service /nao_vision/face_det\ ection/disable, but failed [ INFO] [1416802409.076144054]: speech konnichiwa [ INFO] [1416802409.076524831]: wait for nao_speech/set_parameters [ INFO] [1416802409.109527636]: wait for start_recognition [ INFO] [1416802409.551497586]: imu #f(-0.113545 0.072226 0.990904) 0.990904 [ INFO] [1416802409.551755375]: Recognizing.... konnichiwa / sayounara / nao / are / watashi / genki / robot / shinbou [ INFO] [1416802412.556024378]: wait for stop_recognition [ INFO] [1416802412.674786705]: Recognized are

[ INFO] [1416802432.675258647]: speech uhuhu /home/kochigami/ros/hydro/src/jsk-ros-pkg/jsk_roseus/euslisp/jskeus/eus/Linux64\ /bin/irteusgl 0 error: unbound variable nao_msgs::getinstalledbehaviors in (ins\ tantiate nao_msgs::getinstalledbehaviors)

kochigami commented 9 years ago

＜helloの認識＞

[ INFO] [1416803174.260646596]: Recognizing.... hello / bye bye / nao / robi / \ I / happy / robot / wait [ INFO] [1416803174.761531843]: wait for stop_recognition [ INFO] [1416803175.117810741]: Recognized hello

[ INFO] [1416803175.117957410]: speech nice to meet you

kochigami commented 9 years ago

＜naoの認識＞

[ INFO] [1416803256.116293859]: Recognizing.... hello / bye bye / nao / robi / \ I / happy / robot / wait [ INFO] [1416803256.617432425]: wait for stop_recognition [ INFO] [1416803256.893430751]: Recognized nao

[ INFO] [1416803256.893627269]: speech My name is nao

kochigami commented 9 years ago

＜bye byeの認識＞

[ INFO] [1416803310.266618813]: Recognizing.... hello / bye bye / nao / robi / \ I / happy / robot / wait [ INFO] [1416803310.767943662]: wait for stop_recognition

[ INFO] [1416803311.118391786]: Recognized bye bye

[ INFO] [1416803311.118535513]: speech byebye

kochigami commented 9 years ago

＜waitの認識＞

[ INFO] [1416803955.257591337]: Recognizing.... hello / bye bye / nao / robi / \ I / happy / robot / wait [ INFO] [1416803955.758618854]: wait for stop_recognition [ INFO] [1416803956.085534667]: Recognized wait

[ INFO] [1416803956.085700171]: speech Time is out. See ya

kochigami commented 9 years ago

＜robiの認識＞

[ INFO] [1416804046.071689826]: Recognizing.... hello / bye bye / nao / robi / \ I / happy / robot / wait [ INFO] [1416804046.572750927]: wait for stop_recognition [ INFO] [1416804046.861881581]: Recognized robi

kochigami commented 9 years ago

＜happyの認識＞

[ INFO] [1416804344.563937309]: Recognizing.... hello / bye bye / nao / robi / \ I / happy / robot / wait [ INFO] [1416804345.065043478]: wait for stop_recognition [ INFO] [1416804345.492301092]: Recognized happy

[ INFO] [1416804345.492479086]: speech I am happy too [ INFO] [1416804355.492832128]: speech hahaha

kochigami commented 9 years ago

robot, iは駄目だった（発音が悪い？）他は一発でok

kochigami commented 9 years ago

＜nao is cuteの認識＞

[ INFO] [1416804483.453451671]: Recognizing.... hello / bye bye / Nao is cute /\ robi / i / happy / robot / wait [ INFO] [1416804483.953027080]: wait for stop_recognition [ INFO] [1416804484.319645004]: Recognized Nao is cute

[ INFO] [1416804484.319820246]: speech Thank you very much

kochigami commented 9 years ago

pepperくんにsshして確認すべきこと １．~/nao_bringup/nao.launchの中身って書き変わっているのかなあ ２．nao_msgsの中身　GetInstalledBehaviorsRequestはどこでgetするのか

※英語と日本語の違い ※ツイッター

kochigami commented 9 years ago

２．について nao_msgs::GetInstalledBehaviorsRequest(or Response)は、GetInstalledBehaviors.srvから生成されるもの rosrun roseus generate-all-msgs.... nao_msgsで ~/.ros/roseus/hydro/nao_msgs/srv/GetInstaledBehaviors.lの中に クラスとして定義されていることが分かった

(ros::roseus-add-msgs "nao_msgs")　だけでなく (ros::roseus-add-srvs "nao_msgs")　 を実行することで解決した