naoqi OS 2.1

[Olivier Stasse]

Hi, Sorry for the spam,

but I am unable to find the location of the virtual machine for naoqi OS 2.1 in Aldebaran website.

I keep bouncing in the following link: https://community.aldebaran.com/en/resources/software where only choregraphe releases on Windows, Linux and Mac are displayed.

Could you indicate the correct link ?

Thanks in advance,

Best, Olivier.

[Dang Thi Hai Ha]

Hi,

Here is a link to Virtual-NAO 2.1 I got some time ago: https://community.aldebaran-robotics.com/resources/file/2.1.0.19/opennao-vm-2.1.0.19.ova

Hope it still works (you might need to have a valid account at community.aldebaran though).

Ha.

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[Olivier Stasse]

Thanks it is working.
Olivier.

[Olivier Stasse]

Dear Ha,
Thanks for your help but I have now some problems with virtual machine that you indicated:

- I am not able to find /etc/init.d/naoqi inside the vm as specified here
http://doc.aldebaran.com/2-1/dev/tools/naoqi.html

- I will work with people from Rennes (Giovanni most probably)  on porting our motion engine on Romeo. How can I get the romeo
packages to work on a virtual image ?
My understanding is that they were few differences between the nao framework and the romeo one.

Thanks again for your help.
Olivier.

[Dang Thi Hai Ha]

Hi,

Here are my questions: :-)

1. Why do you need to find /etc/init.d/naoqi on the virtual-nao? That file is normally used to list naoqi components at startup of the robot, which means it only makes sense to have it on the real machine, not on a vm.

2. Romeo and NAO both use NAO OS to run, currently at version 2.1. So, at the software side there is no difference between the two framework. To have ROS package work on the robot, we need to compile it beforehand using the vm, then just copy the compiled folder from the vm to the real robot, and that's it. :-)

There is a tutorial about how to compile nao-robot for NAO here, you can follow these steps to compile any packages you want for your robot :-)

Cheers,

Ha.

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[Olivier Stasse]

Dear Ha,
Thanks for your quick answer.

On Friday, October 10, 2014 7:14:30 AM UTC+2, Ha Dang wrote:

Hi,

Here are my questions: :-)

1. Why do you need to find /etc/init.d/naoqi on the virtual-nao? That file is normally used to list naoqi components at startup of the robot, which means it only makes sense to have it on the real machine, not on a vm.

Thanks for the clarification.
I thought that it would have allow me to redirect the low-level driver to a simulator and really simulate the whole software architecture as if inside the robot.

I guess that when using webots or gazebo, the switch is done at the level of the naoqi middleware through DCMProxy.

2. Romeo and NAO both use NAO OS to run, currently at version 2.1. So, at the software side there is no difference between the two framework. To have ROS package work on the robot, we need to compile it beforehand using the vm, then just copy the compiled folder from the vm to the real robot, and that's it. :-)

Ok, thanks again for the clarification.

Best,
Olivier.

[Dang Thi Hai Ha]

Hi again :-)

1. Why do you need to find /etc/init.d/naoqi on the virtual-nao? That file is normally used to list naoqi components at startup of the robot, which means it only makes sense to have it on the real machine, not on a vm.

Thanks for the clarification.
I thought that it would have allow me to redirect the low-level driver to a simulator and really simulate the whole software architecture as if inside the robot.

I guess that when using webots or gazebo, the switch is done at the level of the naoqi middleware through DCMProxy.

From what I know, we don't need DCMProxy to work with the simulated robot. Romeo-moveit* package should be enough. My *guess* about the abstraction level would be:

Real robot => naoqi OS (and DCMProxy) => Robot Model => NAO/Romeo ROS Bridge => Romeo_moveit.

and

Simulated robot => Robot Model => Romeo_moveit.

Mikael can give more details about this because he works on that.

 

Best,

Ha.

[Mikael ARGUEDAS]

Hi,

To clarify a bit what was told earlier:

For now there is no way to bypass the middleware to send command directly to the motor control units.

This goes through DCM which perform servoing on every command sent.

If you send a command from choregraph to a robot the chain would be :

on a real robot:

Choregraph -> ALMotion -> DCM -> HAL -> Motors

on a simulated robot:

Choregraph -> ALMotion -> DCM -> HAL -> HALInterface (Simulator SDK) -> Webots.

The plugin to interface this architecture on Gazebo is not done yet, for now only ros controllers have been implemented to be able to drive a real robot or a simulated robot through the same moveit node (sending pure ros commands to ros controllers). The ros controllers translate these trajectories commands into DCMProxy calls.

Here is the documentation of the simulator SDK : http://doc.aldebaran.com/2-1/ref/simulator_sdk.html

I planned to do this plugin before december but I don't know when I will be able to focus on this part.

Hope this help to clarify things.

Regards,

Mikael

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Mikael Arguedas

Software engineering intern

Perception Team
Aldebaran

43 rue du Colonel Pierre Avia
75015 PARIS

[Olivier Stasse]

Hi Mikael,

Thanks it is very helpful.

Best,

Olivier Stasse,
===========
Ph.D., Researcher,
Gepetto, LAAS-CNRS,
7 Avenue du Colonel Roche,
31077 - Toulouse Cedex 4, France
Tel: +33-561-336-454 Fax: +33-561-336-455
http://www.laas.fr/~ostasse

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[Olivier Stasse]

Dear all,
I am still unable to find the link to download nao-sdk for Nao OS 2.1

The website seems to have been under heavy reorganization,
and I am not able to find my way around.

[Mikael ARGUEDAS]

Hi,

Yes the new community website is still under development,

I ask them to give you (all the people invovled in ROMEO project) the rights to access any ressource on the community website, the process is engaged I'll let you know if I have any feedback.

You should anyway be able to download the c++ and python SDKs on the previous website : https://community.aldebaran-robotics.com/resources/
https://community.aldebaran-robotics.com/resources/file/2.1.0.19/naoqi-sdk-2.1.0.19-linux64.tar.gz
https://community.aldebaran-robotics.com/resources/file/2.1.0.19/pynaoqi-python2.7-2.1.0.19-linux64.tar.gz

If you need the 32 bits version you can just change the number in the URL.

Best,

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[Dang Thi Hai Ha]

Hey Mikael,

It seems to me that to compile ROS package with naoqi c++ on the virtual-nao, we need to have the naoqi c++ cross compiling package, not simply naoqi c++ for linux. Can you check this with Edouard or Samuel?

Ha.

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[Mikael ARGUEDAS]

Hi,

It seems to me that you don't need this. That's the only advantage of virtual-nao, it doesn't embed naoqi but it includes the entire cross toolchain so compiling shouldn't be a problem.

As long as you have the SDK and you define the environment variable AL_DIR to point to the path of your naoqi sdk folder everything should be working.

Edouard seems to agree on this point.

Please Olivier let us know if encounter issues at this point we will try to update installation tutorials accordingly.

Mikael

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[Olivier Stasse]

Dear Mikael,
Thanks a lot for your help.
However, I am still facing some problems.

Here is the chain of facts:
I was trying to investigate why robotpkg is failing on system dependencies:
http://robotpkg.openrobots.org/rbulk/robotpkg/robots/nao-robot/nao-robot-0.2.2r1/OpenNao-2.1.0.19-i386/sysdep.html

It turns out that robotpkg is looking for albroker.h.
This file is provided by the naoqi-sdk-2.1.0.19-linux32.tgz (as it seems that the virtual machine is 32 bits) but:

1/ Using the binaries of the sdk that you indicated on the virtual nao is not working.
The glibcxx library required by the naosdk ( 3.4,15) is not found in the virtual machine.
The sdk seems to be only compatible with a 12.04 LTS and not NaoQi OS 2.1

2/ I tried to see if I could use directly gcc and qibuild to compile the cpp/examples in the sdk.
Having
AL_DIR =/home/nao/naoqi-sdk-2.1.0.19-linux32
ALCOMMON_DIR =/home/nao/naoqi-sdk-2.1.0.19-linux32
I created a worktree in
/home/nao/worktree
copied sayhelloworld in this directory
and then tried:

qibuild configure sayhelloworld

based on
http://doc.aldebaran.com/qibuild/beginner/qibuild/tutorial.html#using-aldebaran-packages

I only got the following error:
Current build worktree: /home/nao/worktree
 Build type: Debug
[ERROR]: max() arg is an empty sequence

I am probably missing something obvious.

Thanks again for your help.

[Giovanni Claudio]

Hi Olivier,

For the second question, I had the same problem before. I just wrote some notes about that and you can find them here . 

I think you can solve the problem adding the project to your worktree with qisrc

qisrc add path/to/core/sayhelloworld

Or running qibuild configure directly from the project path (what I usually do).

Giovanni

[Olivier Stasse]

Hi Giovanni,
Your notes seems to be very useful !
Thanks a lot.
Could you confirm that you are doing this on a Ubuntu 12.04 LTS 64 bits
and not a virtual nao (the virtual box appliance) ?

This might a better practical way to build our packages.

Thanks again.

[Giovanni Claudio]

Yes I'm using Ubuntu 14.04 64 bits and for now I'm running the program from the remote computer. I didn't try yet on the virtual nao.

Giovanni

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[marg...@aldebaran-robotics.com]

Hi everyone,

The tutorial compileFromVirtualNao has been updated to allow people to compile using the last virtual machine (opennao-vm-2.1.0.19) and the last toolchain  (linux64-atom-pub-v2.0.5.4).

If anybody can test it and give me feedbacks it would be really appreciated.


Cheers,

Mikael

[Vincent Rabaud]

Thx Mikael ! To explain a bit more: since 2.1, the toolchain is now distributed independently from the OpenNAO image (which is more if you want to tweak your Gentoo, not to play with NAOqi OS anymore).

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[Olivier Stasse]

Hi Mikael,
Thanks a lot for the work !

However I still have a silly problem:
When compiling NAO packages when the following command line:

src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release

the system is not able to find the urdf cmake macro at step 79
--------------------------
cmake /home/nao/workspace/src/robot_model/urdf -DCATKIN_DEVEL_PREFIX=/home/nao/workspace/devel_isolated/urdf -DCMAKE_INSTALL_PREFIX=/home/nao/workspace/install_isolated -DCMAKE_BUILD_TYPE=Release in '/home/nao/workspace/build_isolated/urdf'

CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findurdfdom.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "urdfdom", but
  CMake did not find one.

  Could not find a package configuration file provided by "urdfdom" with any
  of the following names:

    urdfdomConfig.cmake
    urdfdom-config.cmake

  Add the installation prefix of "urdfdom" to CMAKE_PREFIX_PATH or set
  "urdfdom_DIR" to a directory containing one of the above files.  If
  "urdfdom" provides a separate development package or SDK, be sure it has
  been installed.
---------------------
I am not sure if the proper way is to modify the env.sh bash script.
Specifying a macro seems to be against the spirit of env.sh

[marg...@aldebaran-robotics.com]

Hi,
Sorry to keep you waiting but I wanted to reproduce the issue
I tried to reproduce the issue.
When I run

rosdep install --from-path src -i -y
I get the following errors : 
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
rosconsole_bridge: No definition of [libconsole-bridge-dev] for OS [gentoo]
class_loader: No definition of [libconsole-bridge-dev] for OS [gentoo]
urdf: No definition of [liburdfdom-headers-dev] for OS [gentoo]
urdf_parser_plugin: No definition of [liburdfdom-headers-dev] for OS [gentoo]
cpp_common: No definition of [libconsole-bridge-dev] for OS [gentoo]
rosbag_storage: No definition of [libconsole-bridge-dev] for OS [gentoo]
tf2: No definition of [libconsole-bridge-dev] for OS [gentoo]

But it doesn't prevent us from building the packages. 

You can indeed modify the env.sh but it bothers me that I cannoot reproduce the issue because I would like people to have something working properly at the first build.

Please let me know if you found where does this come from.

Regards,

Mikael

[Dang Thi Hai Ha]

Hi Olivier,

Concerning urdfdom, if you already installed it by following section 2.6 and 2.7 in the tutorial, the issue should not appear.

Ha.

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[Olivier Stasse]

Dear Mikael, and Ha,
Because of the numerous phases I run some of the commands
in the wrong directory at some point (while doing other stuff)
 
If you could not reproduce the problem, then the mistake comes from me.

Thanks for your help.

Best,
Olivier.

[Dang Thi Hai Ha]

Hi Olivier,

So, did you solve the problem? I can not reproduce the problem because I no more work at Aldebaran. But I remember having that particular problem when trying to compile ros on virtual-nao, and by installing udrfdom as indicated in the tutorial that I got that problem solved. :-)

Cheers,

Ha.

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[marg...@aldebaran-robotics.com]

Hi,

Yes, as Ha I'm wondering if you succeeded to compile your packages in the end.
You were willing to make a script to automatically handle all these phases because it's a bit fastidious and don not really need any user input.

I'll do it once I'm sure that following the tutorial is fully working.

Let us know if you still have issues to compile.

Thanks!

Mikael