Currently, trying to connect to a simulated robot, either using Choregaphe or by running naoqi-bin manually, will lead to errors stopping the node to start.
There are two problems, at least for Nao:
The robot type has to be accessed using Dialog/RobotModel instead of RobotConfig/Body/Type
The simulated robot doesn't provide the ALAudio module
This PR addresses both of these problems.
One small issue is that I couldn't find a way to retrieve the robot's version. That shouldn't be a big issue since this information is only used for message logging.
Currently, trying to connect to a simulated robot, either using Choregaphe or by running
naoqi-binmanually, will lead to errors stopping the node to start.There are two problems, at least for Nao:
Dialog/RobotModelinstead ofRobotConfig/Body/TypeALAudiomoduleThis PR addresses both of these problems.
One small issue is that I couldn't find a way to retrieve the robot's version. That shouldn't be a big issue since this information is only used for message logging.