roslaunch naoqi_driver naoqi_driver.launch , "connect refused" happened.

[5164...@qq.com]

I'm a newer to nao, and i want to control nao on ROS.First , i run ROS_IP=127.0.0.1 roscore and the answer is commom.like this :

 

logging to /home/aicrobo/.ros/log/608a836e-bce2-11e6-8019-b707679c6b18/roslaunch-ubuntu-14312.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.

st

    arted roslaunch server http://127.0.0.1:56621/
    ros_comm version 1.11.16


SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.1


NODES

auto-starting new master
process[master]: started with pid [14324]
ROS_MASTER_URI=http://127.0.0.1:11311/

setting /run_id to 608a836e-bce2-11e6-8019-b707679c6b18
process[rosout-1]: started with pid [14337]
started core service [/rosout]

 

But when i run the command

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=169.254.42.173 roscore_ip:=127.0.0.1 network_interface:=eth0

error happened:

 ... logging to /home/aicrobo/.ros/log/608a836e-bce2-11e6-8019-b707679c6b18/roslaunch-ubuntu-16262.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://ubuntu:59515/

    SUMMARY
    ========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.16

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 [16280]
[W] 16286 qimessaging.transportsocket: connect: Connection refused
terminate called after throwing an instance of 'qi::FutureUserException'
  what():  System error: Connection refused

process [naoqi_driver-1] has died!
process has died [pid 16280, exit code -6, cmd /home/aicrobo/nao_ws/devel/lib/naoqi_driver/naoqi_driver_node --qi-url=  tcp://169.254.42.173: 9559 --roscore_ip=127.0.0.1 --network_interface=eth0 __name:=naoqi_driver __log:=/home/aicrobo/.ros/log/608a. 836e-bce2-11e6-8019-b707679c6b18/naoqi_driver-1.log].


 log file: /home/aicrobo/.ros/log/608a836e-bce2-11e6-8019-b707679c6b18/naoqi_driver-1*.log,Initiating shutdown!
 [naoqi_driver-1] killing on exit
  shutting down processing monitor...
 shutting down processing monitor complete done

When i run ping 169.254.42.173 (nao IP), the answer is :

 PING 169.254.42.173 (169.254.42.173) 56(84) bytes of data.
64 bytes from 169.254.42.173: icmp_seq=1 ttl=64 time=0.061 ms
64 bytes from 169.254.42.173: icmp_seq=2 ttl=64 time=0.063 ms
64 bytes from 169.254.42.173: icmp_seq=3 ttl=64 time=0.061 ms
64 bytes from 169.254.42.173: icmp_seq=4 ttl=64 time=0.064 ms
64 bytes from 169.254.42.173: icmp_seq=5 ttl=64 time=0.068 ms
64 bytes from 169.254.42.173: icmp_seq=6 ttl=64 time=0.064 ms
64 bytes from 169.254.42.173: icmp_seq=7 ttl=64 time=0.067 ms
64 bytes from 169.254.42.173: icmp_seq=8 ttl=64 time=0.060 ms
64 bytes from 169.254.42.173: icmp_seq=9 ttl=64 time=0.062 ms

I don't know what is the problem. Hope someone help me, best wishes.

[Natalia Lyubova]

Try it without roscore_ip

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=169.254.42.173