running `naoqi_driver` on choregraphe

[k-okada]

naoqi_driver checks RobotConfig/Body/Type but it seems this is not work on Choregraphe 2.1.4. Is this is issue of choregraphe and this will fixed anytime soon? or if we have to check in naoqi_driver side, is there anyway to know robot type when we connect to choreographe? or if not is there way to find if we connect to realrobot or virtual robot?

  // Get the robot type
  std::cout << "Receiving information about robot model" << std::endl;
  qi::AnyObject p_memory = session->service("ALMemory");
  std::string robot = p_memory.call<std::string>("getData", "RobotConfig/Body/Type" );
  std::transform(robot.begin(), robot.end(), robot.begin(), ::tolower);

https://github.com/ros-naoqi/naoqi_driver/blob/master/src/helpers/driver_helpers.cpp#L44

[suryaambrose]

Hi,

I don't exactly know the reason of the problem you face, but I think this key only exists on real robots. I don't have it either on more recent choregraphe. I don't really know if it is a bug or an expected behavior.

Anyway, you can use the key "Dialog/RobotModel" instead. I don't know if it is exactly the same behavior as RobotConfig/Body/Type, but at least the information is there and existing.

[warp1337]

Bump. I have the same error when trying to run a virtual Pepper via Chore or naoqi-bin

[14:44]$ roslaunch naoqi_driver naoqi_driver.launch nao_ip:=thorium.local roscore_ip:=thorium network_interface:=eth0
... logging to /home/fl/.ros/log/4eaec0ec-0f03-11e7-9827-9890969b8671/roslaunch-thorium-17951.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://thorium:45905/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

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 [17969]
Receiving information about robot model
terminate called after throwing an instance of 'qi::FutureUserException'
  what():       ALMemory::getData
        Data not found RobotConfig/Body/Type

[nlyubova]

Which version of Naoqi installed on your robot?

[warp1337]

We dont have our Pepper Robot yet (Bielefeld University) it about to be delivered this week hopefully. I am currently implementing a Simulation for the Pepper as an alternative to gazebo. Thus I am starting a naoqi-bin and connect to it. I think that this Memory is not available in naoqi without the actual hardware?

[nlyubova]

There is actually a possibility to run NAOqi on your PC (download SDK, go to its path and run "naoqi --broker-ip 127.0.0.1") and then run Naoqi Driver. So, you do not need a Choregraphe

[warp1337]

Hey, I have a solution for this. I got the driver running with Choregraphe by inserting the missing mem keys manually (can share the code). However, I found out, that the driver does NOT run using simulated time.

<param name="/use_sim_time" value="true"/>

Does anyone know why this is? This is a must have in order to use the driver for simulation.

[farhangnaderi]

@warp1337 Can you share your code? Am getting same error.

[ysys98]

@farhangnaderi Hello, have you solved this problem? I have the same problem

[farhangnaderi]

@ysys98 I gave up. The whole setup procedure is so outdated and not a match with my system anymore. So it was not worth my time.