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ros-naoqi / naoqi_dcm_driver

Hardware interface allowing control Nao, Romeo, and Pepper robots via ROS
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Cant launch the dcm driver with pepper #3

Closed ExpertExcrementExpeditor closed 6 years ago

ExpertExcrementExpeditor commented 7 years ago

Hello I'm sorry if I'm making some obvious error but I'm new with ROS. currently I'm trying to set up MoveIt! for Pepper and was following the guides found at the ROS-Wiki. AFAIK I should first start the dcm driver before using MoveIt!. However, every time I try to launch dcm with: roslaunch pepper_dcm_bringup pepper_bringup.launch I get the following error message:

[ERROR] [1510231829.922299911]: Motion: Failed to get robot body names!
    Trace:  ALMotion::getBodyNames
    Could not parse "LArmRArm" as a valid joint name, chain name or "Body"

As for the details of my Installation, I'm currently using ROS-Indigo on a Xubuntu 14.04 VM. Pepper's Naoqi version is 2.5.5.5 and I tried using both the precompiled version of the dcm driver, as well as one I compiled w/ catkin on the VM. As far as I can tell there seems to be a problem with a missing separator between to strings in a string-vector.

nlyubova commented 7 years ago

Hello, are you on a master branch? I have just cloned and compiled naoqi_dcm_driver+pepper_dcm_robot+naoqi_driver repositories from master and tested: $ roslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:= $ roslaunch naoqi_driver naoqi_driver.launch nao_ip:= $ roslaunch pepper_moveit_config moveit_planner.launch

and I could move both arms of Pepper via MoveIt GUI (global frame as "odom").

Did you compile all these packages from source or did you install some of them with "apt-get install"?

ExpertExcrementExpeditor commented 6 years ago

I did install them with apt install. Today I removed them with apt remove, cloned this git and compiled it with catkin_make. I now no longer get the aforementioned error. Now however i get the following error:

[naoqi_dcm_driver-2] process has died [pid 12401, exit code -11, cmd /home/ros-box/catkin_ws/devel/lib/naoqi_dcm_driver/naoqi_dcm_driver __name:=naoqi_dcm_driver __log:=/home/ros-box/.ros/log/e23b1f06-c937-11e7-a2b1-08002777da1e/naoqi_dcm_driver-2.log].
log file: /home/ros-box/.ros/log/e23b1f06-c937-11e7-a2b1-08002777da1e/naoqi_dcm_driver-2*.log

I tried looking into the reported logfile. I however couldn't find it. Also, thank you for the quick help!

nlyubova commented 6 years ago

Did you remove build and devel folders before compiling it ? if not, could you please try it?

I will release the packages soon so that they should work with apt-get in near future.

ExpertExcrementExpeditor commented 6 years ago

Recompiled it with catkin_make after cleaning up the workspace. Sadly, I'm still getting the same error.

nlyubova commented 6 years ago

how do you launch it?

ExpertExcrementExpeditor commented 6 years ago

I first started roscore, then the naoqibridge with roslaunch pepper_bringup pepper_full.launch nao_ip:=10.215.17.41 roscore_ip:=127.0.0.1 > pepperout.txt then exported NAO_IP and finally started dcm_bringup with roslaunch pepper_dcm_bringup pepper_bringup.launch

nlyubova commented 6 years ago

try to start it like roslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:=ROBOT_IP

nlyubova commented 6 years ago

Please, let me know if it works for you, so we can close this issue.

ExpertExcrementExpeditor commented 6 years ago

Sorry couldn't get access to the Robot earlier. Also, still getting the same error with this method. just looked up the exit code -11 according to signum.h -11 is a Segmentation violation (ANSI) EDIT: also, after the error, roslaunch keeps running but repeatedly throws the following warning: [WARN] [WallTime: 1510744882.852593] Controller Spawner couldn't find the expected controller_manager ROS interface.

nlyubova commented 6 years ago

Can you start naoqi_driver with the same IP?

ExpertExcrementExpeditor commented 6 years ago

Yes, as far as I could see it's working. Only getting the warnings about the conversion errors from LogMessage to LogMessage, but AFAIK that's only a minor problem because of some changed datatypes in newer NAOqi versions.

nlyubova commented 6 years ago

To remove these warnings, you can set log to "false" in https://github.com/ros-naoqi/naoqi_driver/blob/master/share/boot_config.json#L40

nlyubova commented 6 years ago

Regarding this package, I think the issue can be related to your previous installation with apt-get.

Can you please check where is your naoqi_dcm_driver installed? like this, for example: $ roscd naoqi_dcm_driver

ExpertExcrementExpeditor commented 6 years ago

~/catkin_ws/src/naoqi_dcm_driver

ExpertExcrementExpeditor commented 6 years ago

What would be your suggestion for fixing this? Also, what order of installation of ROS modules would you suggest for setting up another ROS-VM?

nlyubova commented 6 years ago

Regarding naoqi_dcm_driver path, it is good. Could you send me the whole log, please ?

Regarding the order, I would suggest the one described in wiki.ros.org/pepper_dcm_bringup

ExpertExcrementExpeditor commented 6 years ago

Which Logs do you want? Only the terminal output or the ROS logfiles as well?

nlyubova commented 6 years ago

the terminal output

ExpertExcrementExpeditor commented 6 years ago

Alright. roscore:

ros-box@rosbox-VirtualBox:~$ roscore
... logging to /home/ros-box/.ros/log/5feb3832-cab9-11e7-bcd2-08002777da1e/roslaunch-rosbox-VirtualBox-2470.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://rosbox-VirtualBox:43965/
ros_comm version 1.11.21

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES

auto-starting new master
process[master]: started with pid [2482]
ROS_MASTER_URI=http://rosbox-VirtualBox:11311/

setting /run_id to 5feb3832-cab9-11e7-bcd2-08002777da1e
process[rosout-1]: started with pid [2495]
started core service [/rosout]

naoqi-driver:

ros-box@rosbox-VirtualBox:~$ roslaunch naoqi_driver naoqi_driver.launch nao_ip:=10.215.17.41 roscore_ip:=127.0.0.1
... logging to /home/ros-box/.ros/log/5feb3832-cab9-11e7-bcd2-08002777da1e/roslaunch-rosbox-VirtualBox-3059.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://rosbox-VirtualBox:34031/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /
    naoqi_driver (naoqi_driver/naoqi_driver_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[naoqi_driver-1]: started with pid [3077]
Receiving information about robot model
[W] 3077 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s
[W] 3077 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to [[m]]
set prefix successfully to naoqi_driver
[I] 3077 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 3077 qimessaging.transportserver: TransportServer will listen on: tcp://10.215.255.72:35837
[I] 3077 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:35837
using ip address: 127.0.0.1 @ eth0
found a catkin prefix /home/ros-box/catkin_ws/src/naoqi_driver/share/boot_config.json
load boot config from /home/ros-box/catkin_ws/src/naoqi_driver/share/boot_config.json
no camera information found for camera_source 3 and res: 1
found a catkin URDF /home/ros-box/catkin_ws/src/naoqi_driver/share/urdf/pepper.urdf
Audio Extractor: Start
RightBumperPressed
LeftBumperPressed
BackBumperPressed
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 
using master ip: http://127.0.0.1:11311
NOT going to re-register the converters
camera/bottom/image_raw is resetting
camera/bottom/image_raw reset
camera/depth/image_raw is resetting
camera/depth/image_raw reset
/diagnostics is resetting
/diagnostics reset
camera/front/image_raw is resetting
camera/front/image_raw reset
imu/base is resetting
imu/base reset
imu/torso is resetting
imu/torso reset
info is resetting
load robot description from file
info reset
camera/ir/image_raw is resetting
camera/ir/image_raw reset
/joint_states is resetting
/joint_states reset
laser is resetting
laser reset
odom is resetting
odom reset
sonar is resetting
sonar reset
resetting subscriber teleop
teleop is resetting
teleop reset
resetting subscriber moveto
moveto is resetting
moveto reset
resetting subscriber speech
speech is resetting
speech reset
resetting service robot config service
robot config service is resetting

And finally pepper_dcm_bringup:

ros-box@rosbox-VirtualBox:~$ roslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:=10.215.17.41
... logging to /home/ros-box/.ros/log/5feb3832-cab9-11e7-bcd2-08002777da1e/roslaunch-rosbox-VirtualBox-4789.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://rosbox-VirtualBox:32856/

SUMMARY
========

PARAMETERS
 * /naoqi_dcm_driver/ControllerFrequency: 12
 * /naoqi_dcm_driver/DriverBrokerIP: 127.0.0.1
 * /naoqi_dcm_driver/DriverBrokerPort: 54000
 * /naoqi_dcm_driver/JointPrecision: 0.09
 * /naoqi_dcm_driver/OdomFrame: odom
 * /naoqi_dcm_driver/Prefix: pepper_dcm
 * /naoqi_dcm_driver/RobotIP: 10.215.17.41
 * /naoqi_dcm_driver/RobotPort: 9559
 * /naoqi_dcm_driver/TopicQueue: 10
 * /naoqi_dcm_driver/Version: 1.0
 * /naoqi_dcm_driver/max_stiffness: 0.9
 * /naoqi_dcm_driver/motor_groups: Head LArm RArm
 * /naoqi_dcm_driver/network_interface: eth0
 * /naoqi_dcm_driver/pepper_dcm/Head_controller/joints: ['HeadYaw', 'Head...
 * /naoqi_dcm_driver/pepper_dcm/Head_controller/type: position_controll...
 * /naoqi_dcm_driver/pepper_dcm/LeftArm_controller/joints: ['LShoulderPitch'...
 * /naoqi_dcm_driver/pepper_dcm/LeftArm_controller/type: position_controll...
 * /naoqi_dcm_driver/pepper_dcm/LeftHand_controller/joints: ['LHand']
 * /naoqi_dcm_driver/pepper_dcm/LeftHand_controller/type: position_controll...
 * /naoqi_dcm_driver/pepper_dcm/Pelvis_controller/joints: ['HipRoll', 'HipP...
 * /naoqi_dcm_driver/pepper_dcm/Pelvis_controller/type: position_controll...
 * /naoqi_dcm_driver/pepper_dcm/RightArm_controller/joints: ['RShoulderPitch'...
 * /naoqi_dcm_driver/pepper_dcm/RightArm_controller/type: position_controll...
 * /naoqi_dcm_driver/pepper_dcm/RightHand_controller/joints: ['RHand']
 * /naoqi_dcm_driver/pepper_dcm/RightHand_controller/type: position_controll...
 * /naoqi_dcm_driver/pepper_dcm/Wheels_controller/joints: ['WheelFL', 'Whee...
 * /naoqi_dcm_driver/pepper_dcm/Wheels_controller/type: position_controll...
 * /naoqi_dcm_driver/pepper_dcm/joint_state_controller/publish_rate: 50
 * /naoqi_dcm_driver/pepper_dcm/joint_state_controller/type: joint_state_contr...
 * /naoqi_dcm_driver/use_dcm: False
 * /pepper_dcm/Head_controller/joints: ['HeadYaw', 'Head...
 * /pepper_dcm/Head_controller/type: position_controll...
 * /pepper_dcm/LeftArm_controller/joints: ['LShoulderPitch'...
 * /pepper_dcm/LeftArm_controller/type: position_controll...
 * /pepper_dcm/LeftHand_controller/joints: ['LHand']
 * /pepper_dcm/LeftHand_controller/type: position_controll...
 * /pepper_dcm/Pelvis_controller/joints: ['HipRoll', 'HipP...
 * /pepper_dcm/Pelvis_controller/type: position_controll...
 * /pepper_dcm/RightArm_controller/joints: ['RShoulderPitch'...
 * /pepper_dcm/RightArm_controller/type: position_controll...
 * /pepper_dcm/RightHand_controller/joints: ['RHand']
 * /pepper_dcm/RightHand_controller/type: position_controll...
 * /pepper_dcm/Wheels_controller/joints: ['WheelFL', 'Whee...
 * /pepper_dcm/Wheels_controller/type: position_controll...
 * /pepper_dcm/joint_state_controller/publish_rate: 50
 * /pepper_dcm/joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /
    naoqi_dcm_driver (naoqi_dcm_driver/naoqi_dcm_driver)
    pepper_trajectory_controller (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[pepper_trajectory_controller-1]: started with pid [4810]
process[naoqi_dcm_driver-2]: started with pid [4811]
[ INFO] [1510828924.669286516]: Connecting to 10.215.17.41:9559
[I] 4811 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 4811 qimessaging.transportserver: TransportServer will listen on: tcp://10.215.255.72:46318
[I] 4811 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:46318
[W] 4811 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s
[INFO] [WallTime: 1510828925.173001] Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1510828925.231976888]: HW controlled joints are : HeadYaw, HeadPitch, LShoulderPitch, LShoulderRoll, LElbowYaw, LElbowRoll, LWristYaw, LHand, HipRoll, HipPitch, KneePitch, RShoulderPitch, RShoulderRoll, RElbowYaw, RElbowRoll, RWristYaw, RHand, WheelFL, WheelB, WheelFR
[ INFO] [1510828925.232029606]: Naoqi controlled joints are : HeadYaw, HeadPitch, LShoulderPitch, LShoulderRoll, LElbowYaw, LElbowRoll, LWristYaw, LHand, RShoulderPitch, RShoulderRoll, RElbowYaw, RElbowRoll, RWristYaw, RHand
[naoqi_dcm_driver-2] process has died [pid 4811, exit code -11, cmd /home/ros-box/catkin_ws/devel/lib/naoqi_dcm_driver/naoqi_dcm_driver __name:=naoqi_dcm_driver __log:=/home/ros-box/.ros/log/5feb3832-cab9-11e7-bcd2-08002777da1e/naoqi_dcm_driver-2.log].
log file: /home/ros-box/.ros/log/5feb3832-cab9-11e7-bcd2-08002777da1e/naoqi_dcm_driver-2*.log
[WARN] [WallTime: 1510828955.392107] Controller Spawner couldn't find the expected controller_manager ROS interface.
[pepper_trajectory_controller-1] process has finished cleanly
log file: /home/ros-box/.ros/log/5feb3832-cab9-11e7-bcd2-08002777da1e/pepper_trajectory_controller-1*.log
[pepper_trajectory_controller-1] restarting process
process[pepper_trajectory_controller-1]: started with pid [4970]
[INFO] [WallTime: 1510828956.111102] Controller Spawner: Waiting for service controller_manager/load_controller
^C[pepper_trajectory_controller-1] killing on exit
[WARN] [WallTime: 1510828962.145331] Controller Spawner couldn't find the expected controller_manager ROS interface.
shutting down processing monitor...
... shutting down processing monitor complete
done
nlyubova commented 6 years ago

Could you go to "src/pepper_control" and do "git pull" to get the last changes, please? and then try once again?

ExpertExcrementExpeditor commented 6 years ago

... I am terribly sorry to have wasted a week of your time on me being stupid. I had overlooked that part of the installation instructions and not gotten pepper_virtual along with pepper_control. Thank you for your patience and help! You saved me from failing part of my masters thesis because of my own incompetence, so I'll have to thank you again!

nlyubova commented 6 years ago

I hope it works now. I will add pepper_control as a dependency to the code also.

Michdo93 commented 2 years ago

You have to install the naoqi_bridge packages.

cd ~/catkin_ws/src
git clone https://github.com/ros-naoqi/naoqi_bridge.git
cd ~catkin_ws && catkin_make