problem when running naoqi_driver (alrosbridge) on Raspberry Pi 2

[christophe scazzi]

Hello,

My goal is to control a Nao Robot V5 using a Raspberry Pi (ARM architecture).

I tried to run "naoqi_driver" on a Raspberry Pi 2 (with latest Raspbian installed) as explain here: http://ros-naoqi.github.io/naoqi_driver/install.html

Building steps using "catkin_make_isolated" works well. At the end, I finally have a "alrosbridge_bin" executable.

But, when I try to run it as explained here: http://ros-naoqi.github.io/naoqi_driver/start.html with

>> $ rosrun naoqi_driver alrosbridge_bin --qi-url=<yourRobotIP> <roscore_ip> wlan0

I get a "bus error" message.

May someone help me, please ? Is it because "naoqi_driver" doesn't support ARM architecture ?

Thanks.

[Karsten K]

Hi,

where exactly do you cross-compile? Do you compile directly on your raspberry? 

Anyways, without having it thought trough completely, I'd bet for the dependencies which are not correctly working.

Do you have a catkin workspace with libqi and libqicore in it?  

Can you try running any 'hello world' communication code between your raspberry and your NAO? Maybe just a simple proxy to ALTextToSpeech.

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[christophe scazzi]

Hello,

I compiled directly on Raspberry. Yes I have a catkin workspace with libqi, libqicore, naoqi_bridge, naoqi_bridge_msgs and a lot of others. I mostly followed these steps: http://wiki.ros.org/ROSberryPi/Installing%20ROS%20Indigo%20on%20Raspberry%20Pi
with these variants:
$ rosinstall_generator robot nao_robot perception --rosdistro indigo --deps --wet-only --tar > indigo-robot-wet.rosinstall

What do you mean by "just a simple proxy to ALTextToSpeech" ? As I am not able to have a full NaoQi C++ SDK available for ARM architecture. How to have access to proxies ? For example, if I run:
$ python
>>> import naoqi

I have an error saying that it can't find module "naoqi".

[Karsten K]

Sorry, I wasn't clear enough on that.

I meant just creating a dummy c++ catkin package which compiles against your libqi/libqicore libraries. 

For example the code snippet below:

#include <qi/session.hpp>

#include <qi/anyobject.hpp>

#include <qi/anymodule.hpp>

#include <qi/applicationsession.hpp>

#include <ros/ros.h>

int main( int argc, char** argv )

{

  qi::ApplicationSession app(argc, argv);

  app.start();

  ros::init( argc, argv, "hello world" );

  ros::NodeHandle nh; // no use here, but using ROS components.

  qi::AnyObject tts = app.session()->service("ALTextToSpeech");

  tts.call<void>("say", "hello world");

  return 0;

}

compile this, run it with ./deve/lib/<project>/<binary> --qi-url=tcp://<robot_ip>:9559

Take a look at https://github.com/ros-naoqi/naoqi_driver for a complete example.

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[christophe scazzi]

Thanks for your example. It works, Nao said "Hello world". I am very new to ROS. The example you gave me was the first one I've made using ROS.
I don't know if it's relevant but,there is strange configuration about "libqi" (and "libqicore"):

1) my source directory name is: src/libqi
2) my build directory name is: build_isolated/naoqi_libqi
3) my cmake config file name is: build_isolated/naoqi_libqi/sdk/cmake/qi-config.cmake
4) during build of "naoqi_driver" catkin looks for a "naoqi_libqiConfig.cmake" file so I must rename "qi-config.cmake" to "naoqi_libqiConfig.cmake"
5) I also have to build with extra catkin parameters:  -Dnaoqi_libqi_DIR=/home/pi/ros_catkin_ws/build_isolated/naoqi_libqi/sdk/cmake
6) I also have to add  "${QI_LIBRARIES}  ${QICORE_LIBRARIES}" to "src/naoqi_driver/CmakeLists_catkin.txt"

So, what do you think about that ? Do you have a clue for me to investigate ?

Thanks for your help.