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softbankrobotics-research / sbre_robot_ros_gentoo_prefix

How to Install ros on Pepper's head or Nao's head with gentoo prefix.
BSD 2-Clause "Simplified" License
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circular dependencies #2

Open alex-kozinov opened 4 years ago

alex-kozinov commented 4 years ago

Hi! Thank you for this prefixes, but I've faced with error, while running docker build --network host -f Dockerfile -t gentoo_emerge_xenial . :

(sys-libs/libcap-2.33:0/0::gentoo, ebuild scheduled for merge) depends on
 (sys-libs/pam-1.3.1_p20200128:0/0::gentoo, ebuild scheduled for merge) (buildtime)
  (sys-libs/libcap-2.33:0/0::gentoo, ebuild scheduled for merge) (buildtime)

It might be possible to break this cycle
by applying any of the following changes:
- sys-libs/pam-1.3.1_p20200128 (Change USE: -filecaps)
- sys-libs/libcap-2.33 (Change USE: -pam)

Note that this change can be reverted, once the package has been installed.
Hmmmm, I was already afraid of this to happen.  Running
  /tmp/gentoo/bin/bash ./bootstrap-prefix.sh "/tmp/gentoo" stage3
somewhere failed :(  Details might be found in the build log:
  (no build logs found?!?)

How can i fix this or maybe avoid?(:

awesomebytes commented 4 years ago

I reported this bug upstream: https://bugs.gentoo.org/712020

@alex-kozinov Meanwhile you could use some of the pre-compiled releases from my projects.

The most useful one for you is probably to use an image from the project: https://github.com/awesomebytes/ros_overlay_on_gentoo_prefix or https://github.com/awesomebytes/ros_overlay_on_gentoo_prefix_32b

You could make a new Dockerfile that starts with:

FROM awesomebytes/roogp_ros_kinetic_ros_base

(Note that a successful Melodic image for 64b hasn't build fully yet... I've added that today to the buildfarm.)

Or if you want 32b:

# For Kinetic
FROM awesomebytes/roogp_32b_ros_kinetic_ros_base
# Or for Melodic
FROM awesomebytes/roogp_32b_ros_melodic_ros_base

And after that you can add the stuff from this repo, which is probably: These lines: https://github.com/softbankrobotics-research/sbre_robot_ros_gentoo_prefix/blob/ros_kinetic/gentoo_emerge/Dockerfile#L61-L66 And these lines: https://github.com/softbankrobotics-research/sbre_robot_ros_gentoo_prefix/blob/ros_kinetic/ros_base/Dockerfile#L80-L122

And build your image.

Good luck.

awesomebytes commented 4 years ago

You can find some ready-to-use already built images here: https://github.com/awesomebytes/sbre_robot_ros_gentoo_prefix/releases They come from this discussion: https://github.com/softbankrobotics-research/sbre_robot_ros_gentoo_prefix/issues/4

alex-kozinov commented 4 years ago

Thank you for your help! I've been trying to run ROS on NaoV6 for almost six months. And your work is really helpful!

awesomebytes commented 4 years ago

You are welcome. I do think the project lacks documentation. Let me know how you go. What are you planning to run the Nao?

alex-kozinov commented 4 years ago

i am from young SPL team in Robocup So we decided to build our framework on ROS. Sixth Nao version is more powerful so why not?(: Can I use this release to naoqi 2.8.5? https://github.com/awesomebytes/sbre_robot_ros_gentoo_prefix/releases/tag/release%2F2020-03-12T01at45plus00at00?

awesomebytes commented 4 years ago

Hey @alex-kozinov I believe you Nao V6 has a 64b OS, so I think you can use any of the 64b releases (the ones that the files mention amd64 instead of x86).

So, indeed you should be able to use: For Kinetic: https://github.com/awesomebytes/sbre_robot_ros_gentoo_prefix/releases/tag/release%2F2020-03-12T01at45plus00at00 For Melodic: https://github.com/awesomebytes/sbre_robot_ros_gentoo_prefix/releases/tag/release%2F2020-03-12T01at52plus00at00

I don't know the internals of naoqi 2.8.5 (I have never worked with a Nao V6 neither I work for SoftBank Robotics) but as far as I know it should work. Note that when you enter the prefixed shell using ./startprefix your PATH (and PYTHONPATH) will change to only include the Prefix environment. So if you want to use, from that shell, any binary/library from the robot itself, you'll need to add to your PATH (or/and PYTHONPATH) the corresponding PATHs.

I did run into hiccups with the Pepper robot trying to use the PyNaoqi APIs. I remember the socket library crashing. And my solution was to just "install" in the robot the library as I would do it in a computer by downloading their .tar.gz and extracting it and adding it to the PYTHONPATH in the ~/.bash_profile. But I don't know if you'll run into the same issue. (Also, in reality, there is no 32bits library available for download so in Pepper I needed to create my own from the robot one, a bit of a workaround on a workaround).

awesomebytes commented 4 years ago

I just checked the NaoV6 .tar.gz image of the filesystem (robot-settings-2.8.6.23-linux64.tar.gz) and I believe you may run in the same issue I did. Give it a try, but if anything crashes in Python, just do the installing thing of pynaoqi-python2.7-2.8.6.23-linux64-20191127_152327.tar.gz. Let me know how it goes, as that step could be automated here :)

Also, as a note, you want to install any Python libraries by doing pip install --user so it installs in ~/.local/lib/python2.7 and nothing conflicts with the NaoV6 system.

alex-kozinov commented 4 years ago

Hi! I've just came up to the robot again and tried to upload latest release of sbre_robot_ros_gentoo_prefix: https://github.com/awesomebytes/sbre_robot_ros_gentoo_prefix/releases/tag/release%2F2020-05-09T12at07plus00at00

Then I uploaded it into the robot. Run this command:

./gentoo/startprefix
source /tmp/gentoo/opt/ros/melodic/setup.bash 
export CATKIN_PREFIX_PATH=/tmp/gentoo/opt/ros/

And the following error appeared:

Traceback (most recent call last):
  File "/tmp/gentoo/opt/ros/melodic/lib64/python2.7/site-packages/roslaunch/__init__.py", line 330, in main
    p.start()
  File "/tmp/gentoo/opt/ros/melodic/lib64/python2.7/site-packages/roslaunch/parent.py", line 300, in start
    self.runner.launch()
  File "/tmp/gentoo/opt/ros/melodic/lib64/python2.7/site-packages/roslaunch/launch.py", line 662, in launch
    self._setup()
  File "/tmp/gentoo/opt/ros/melodic/lib64/python2.7/site-packages/roslaunch/launch.py", line 637, in _setup
    launched = self._launch_master()
  File "/tmp/gentoo/opt/ros/melodic/lib64/python2.7/site-packages/roslaunch/launch.py", line 400, in _launch_master
    validate_master_launch(m, self.is_core, self.is_rostest)
  File "/tmp/gentoo/opt/ros/melodic/lib64/python2.7/site-packages/roslaunch/launch.py", line 83, in validate_master_launch
    if not rosgraph.network.is_local_address(m.get_host()):
  File "/tmp/gentoo/opt/ros/melodic/lib64/python2.7/site-packages/rosgraph/network.py", line 170, in is_local_address
    local_addresses = ['localhost'] + get_local_addresses()
  File "/tmp/gentoo/opt/ros/melodic/lib64/python2.7/site-packages/rosgraph/network.py", line 212, in get_local_addresses
    import netifaces
ImportError: No module named netifaces

I know, that you don't work with Nao, but maybe you can suggest some solution (:

awesomebytes commented 4 years ago

Hey @alex-kozinov I'd just try:

pip install --user netifaces
alex-kozinov commented 4 years ago

Heh, thanks. It works! I had such error:

Traceback (most recent call last):
  File "/usr/bin/pip2", line 5, in <module>
    from pkg_resources import load_entry_point
  File "/tmp/gentoo/usr/lib64/python2.7/site-packages/pkg_resources/__init__.py", line 3251, in <module>
    @_call_aside
  File "/tmp/gentoo/usr/lib64/python2.7/site-packages/pkg_resources/__init__.py", line 3235, in _call_aside
    f(*args, **kwargs)
  File "/tmp/gentoo/usr/lib64/python2.7/site-packages/pkg_resources/__init__.py", line 3264, in _initialize_master_working_set
    working_set = WorkingSet._build_master()
  File "/tmp/gentoo/usr/lib64/python2.7/site-packages/pkg_resources/__init__.py", line 583, in _build_master
    ws.require(__requires__)
  File "/tmp/gentoo/usr/lib64/python2.7/site-packages/pkg_resources/__init__.py", line 900, in require
    needed = self.resolve(parse_requirements(requirements))
  File "/tmp/gentoo/usr/lib64/python2.7/site-packages/pkg_resources/__init__.py", line 786, in resolve
    raise DistributionNotFound(req, requirers)
pkg_resources.DistributionNotFound: The 'pip==8.1.1' distribution was not found and is required by the application

Then I fixed it by installing pip with command:

easy_install pip
awesomebytes commented 4 years ago

If that worked, great! But, did you do:

easy_install --user pip

Or without --user? On a Nao is less relevant as you actually have root permissions, but as in general will be installing everything in user-space (i.e. in /home/nao) maybe you want to take into consideration using the --user option.

Otherwise I could recommend (which will install it in the Gentoo Prefix system, afterwards, every library should still go with pip install --user):

emerge dev-python/pip && pip install --user argparse

And there is even another way (which I haven't tested but should work): https://pip.pypa.io/en/stable/installing/