problem in controlling pepper

[Ariel Bistritsky]

I tried to launch the pepper_bringup.launch but I hed the next error:

 [ERROR] [1508861764.274247278]: Motion: Failed to get robot body names!
    Trace:     ALMotion::getBodyNames
    Could not parse "LArmRArm" as a valid joint name, chain name or "Body"
[naoqi_dcm_driver-2] process has died [pid 24774, exit code -11, cmd /opt/ros/indigo/lib/naoqi_dcm_driver/naoqi_dcm_driver __name:=naoqi_dcm_driver __log:=/home/peppercom/.ros/log/9cba558c-b8cf-11e7-abad-d8cb8a065d13/naoqi_dcm_driver-2.log].
log file: /home/peppercom/.ros/log/9cba558c-b8cf-11e7-abad-d8cb8a065d13/naoqi_dcm_driver-2*.log

does anyone else had the same problem? how can I fix it?

[Victor Paléologue]

I don't know much the ROS bridge for Pepper, but I can tell that indeed "LArmRArm" is not a valid chain of Pepper.

"LArm" and "RArm", separately, are valid though.

So I guess that some piece of code concatenates those names instead making a list of them.

But I cannot help you more than that...

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[Josef Nope]

Hello, I recently had a similar problem.

Appereantly there's an error in the naoqi_dcm_driver-package that can be downloaded via apt.
A simple solition is to locally compile naoqi_dcm_driver with catkin and use that version instead.

[Ariel Bistritsky]

how can i compile the DCM with catkin_make? what is the file that I need to run after the catkin_make?

[Victor Paléologue]

Interesting. So it seems like an issue already fixed, but still present in the release. Please report this kind of bugs in the GitHub project, like I did for you here: https://github.com/ros-naoqi/naoqi_dcm_driver/issues/4

[Natalia Lyubova]

Hello,

you could try to compile from source the following packages : pepper_dcm_robot, naoqi_dcm_driver, pepper_virtual.

For example, in your workspace
cd catkin_ws
cd src
git clone https://github.com/ros-naoqi/pepper_dcm_robot
git clone https://github.com/ros-naoqi/naoqi_dcm_driver
git clone https://github.com/ros-naoqi/pepper_virtual
cd ..
catkin_make

I will check the released versions and will try to fix it.

By the way, which ROS version do you have? and which Ubuntu?

Natalia

[Natalia Lyubova]

Also possible that you need to upgrade your packages if you installed them long time ago.