Error using pepper_bring full launch and getting point cloud data

[K]

Hi,

I am trying to use ros-naoqi-driver to use ROS with Pepper.

I am using Ubuntu 16.04 with ROS-Kinetic and Naoqi version 2.5.3.3

When I run the following command:

    roslaunch pepper_bringup pepper_full.launch nao_ip:=192.168.8.164

It provides the following output(sorry for the full output, just wanted to make sure to not miss any details):

... logging to /home/kamalsingh/.ros/log/27b9501c-4006-11e8-bdf9-94e979b2e1ef/roslaunch-kam-19049.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://kam:41057/


SUMMARY
========


PARAMETERS
 * /pepper_robot/camera/camera_nodelet_manager/num_worker_threads: 4
 * /pepper_robot/camera/depth_rectify_depth/interpolation: 0
 * /pepper_robot/camera/depth_registered_rectify_depth/interpolation: 0
 * /pepper_robot/pose/pose_manager/poses/init/joint_names: ['Body']
 * /pepper_robot/pose/pose_manager/poses/init/positions: [0.0, 0.0, 1.39, ...
 * /pepper_robot/pose/pose_manager/poses/init/time_from_start: 1.5
 * /pepper_robot/pose/pose_manager/poses/zero/joint_names: ['Body']
 * /pepper_robot/pose/pose_manager/poses/zero/positions: [0.0, 0.0, 0.0, 0...
 * /pepper_robot/pose/pose_manager/poses/zero/time_from_start: 1.5
 * /pepper_robot/pose/pose_manager/xap: /opt/ros/kinetic/...
 * /rosdistro: kinetic
 * /rosversion: 1.12.13


NODES
  /pepper_robot/camera/
    bottom_rectify_color (nodelet/nodelet)
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    front_rectify_color (nodelet/nodelet)
    ir_rectify_ir (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    register_depth_front (nodelet/nodelet)
  /pepper_robot/pose/
    pose_controller (naoqi_pose/pose_controller.py)
    pose_manager (naoqi_pose/pose_manager.py)
  /pepper_robot/
    naoqi_driver (naoqi_driver/naoqi_driver_node)


ROS_MASTER_URI=http://localhost:11311


process[pepper_robot/naoqi_driver-1]: started with pid [19066]
process[pepper_robot/pose/pose_controller-2]: started with pid [19067]
process[pepper_robot/pose/pose_manager-3]: started with pid [19068]
process[pepper_robot/camera/camera_nodelet_manager-4]: started with pid [19069]
process[pepper_robot/camera/front_rectify_color-5]: started with pid [19070]
process[pepper_robot/camera/bottom_rectify_color-6]: started with pid [19076]
process[pepper_robot/camera/ir_rectify_ir-7]: started with pid [19084]
process[pepper_robot/camera/depth_rectify_depth-8]: started with pid [19087]
Receiving information about robot model
process[pepper_robot/camera/depth_metric_rect-9]: started with pid [19095]
process[pepper_robot/camera/depth_metric-10]: started with pid [19106]
process[pepper_robot/camera/register_depth_front-11]: started with pid [19108]
process[pepper_robot/camera/points_xyzrgb_sw_registered-12]: started with pid [19110]
process[pepper_robot/camera/depth_registered_sw_metric_rect-13]: started with pid [19125]
process[pepper_robot/camera/depth_registered_rectify_depth-14]: started with pid [19140]
process[pepper_robot/camera/points_xyzrgb_hw_registered-15]: started with pid [19149]
process[pepper_robot/camera/depth_registered_hw_metric_rect-16]: started with pid [19153]
process[pepper_robot/camera/depth_registered_metric-17]: started with pid [19167]
[ INFO] [1523725598.013039985]: Initializing nodelet with 4 worker threads.
set prefix successfully to naoqi_driver
[I] 1523725598.108615 19066 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 1523725598.108862 19066 qimessaging.transportserver: TransportServer will listen on: tcp://172.17.0.1:36349
[I] 1523725598.108874 19066 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:36349
[I] 1523725598.108880 19066 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.8.144:36349
using ip address: 127.0.0.1 @ eth0
found a catkin prefix /opt/ros/kinetic/share/naoqi_driver/share/boot_config.json
load boot config from /opt/ros/kinetic/share/naoqi_driver/share/boot_config.json
[INFO] [1523725598.162370]: Connecting to NaoQi at 192.168.8.164:9559
[I] 1523725598.163893 19067 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[W] 1523725598.164127 19447 qi.path.sdklayout: No Application was created, trying to deduce paths
[I] 1523725598.164193 19067 qimessaging.transportserver: TransportServer will listen on: tcp://172.17.0.1:37741
[I] 1523725598.164210 19067 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:37741
[I] 1523725598.164221 19067 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.8.144:37741
[WARN] [1523725598.666198]: Collection LLeg not found on your robot.
no camera information found for camera_source 3 and res: 1
[WARN] [1523725598.675002]: Collection RLeg not found on your robot.
found a catkin URDF /opt/ros/kinetic/share/naoqi_driver/share/urdf/pepper.urdf
[INFO] [1523725598.777113]: nao_controller initialized
[INFO] [1523725598.777546]: nao pose_controller running...
[WARN] [1523725600.909136]: stop_walk_srv not available, pose_manager will not stop the walker before executing a trajectory. This is normal if there is no nao_walker running.
terminate called after throwing an instance of 'qi::FutureUserException'
  what():  ALProxy::ALProxy
 Can't find service: ROS-Driver-Audio
================================================================================REQUIRED process [pepper_robot/naoqi_driver-1] has died!
process has died [pid 19066, exit code -6, cmd /opt/ros/kinetic/lib/naoqi_driver/naoqi_driver_node --qi-url=tcp://192.168.8.164:9559 --roscore_ip=127.0.0.1 --network_interface=eth0 --namespace=naoqi_driver __name:=naoqi_driver __log:=/home/kamalsingh/.ros/log/27b9501c-4006-11e8-bdf9-94e979b2e1ef/pepper_robot-naoqi_driver-1.log].
log file: /home/kamalsingh/.ros/log/27b9501c-4006-11e8-bdf9-94e979b2e1ef/pepper_robot-naoqi_driver-1*.log
Initiating shutdown!
================================================================================
[pepper_robot/camera/depth_registered_metric-17] killing on exit
[pepper_robot/camera/depth_registered_hw_metric_rect-16] killing on exit
[pepper_robot/camera/points_xyzrgb_hw_registered-15] killing on exit
[pepper_robot/camera/depth_registered_rectify_depth-14] killing on exit
[pepper_robot/camera/depth_registered_sw_metric_rect-13] killing on exit
[pepper_robot/camera/points_xyzrgb_sw_registered-12] killing on exit
[pepper_robot/camera/register_depth_front-11] killing on exit
[pepper_robot/camera/depth_metric-10] killing on exit
[pepper_robot/camera/depth_rectify_depth-8] killing on exit
[pepper_robot/camera/depth_metric_rect-9] killing on exit
[pepper_robot/camera/ir_rectify_ir-7] killing on exit
[pepper_robot/camera/bottom_rectify_color-6] killing on exit
[pepper_robot/camera/front_rectify_color-5] killing on exit
[pepper_robot/camera/camera_nodelet_manager-4] killing on exit
[pepper_robot/pose/pose_manager-3] killing on exit
[pepper_robot/pose/pose_controller-2] killing on exit
[INFO] [1523725630.001536]: Stopping pose_controller
[pepper_robot/naoqi_driver-1] killing on exit
[INFO] [1523725630.002740]: pose_controller stopped
[INFO] [1523725630.137822]: nao pose_controller stopped.
shutting down processing monitor...
... shutting down processing monitor complete
done

The issue is with this:

terminate called after throwing an instance of 'qi::FutureUserException'
  what():  ALProxy::ALProxy
 Can't find service: ROS-Driver-Audio

I have tried reinstalling ros-naoqi-driver but still the same issue.

When I use the Python node, it works without any issues:

roslaunch pepper_bringup pepper_full_py.launch nao_ip:=192.168.8.164

But I need to get the following topic:

/pepper_robot/camera/depth_registered/points

But it doesn't provide any data in Python node(https://groups.google.com/d/msg/ros-sig-aldebaran/BkwMqXUpW7E/IZ9Qm-PcBgAJ)

I have also tried the following solution:

https://github.com/ros-naoqi/naoqi_driver/issues/90#issuecomment-337941487

But that didn't work as well.

So basically I am facing issues with two things: setting up the C++ node and getting the point cloud data.

I hope someone can help.

Regards

Kamal Singh

[Ferran]

Hey @K I have got the exact same issue. Where you able to solve it?

[K]

Hi @Ferran I wasn't able to solve it. Do let me know if you find any solution. Thanks.

[HaSu]

Hi

Are you sure that the ROS-Audio-Driver is installed?

if not, try:
sudo apt-get install ros-DISTRO-audio-common
sudo apt-get install ros-DISTRO-audio-common-msgs

Please let me know if this helps or not.

Good luck!
HaSu

[Ferran]

Hello HaSu,

Thank you for your response. You are right, I was able to fix this part. Unfortunately, I still do not see any messages coming out from:

/pepper_robot/camera/depth_registered/points

 Looks like a non related issue... Any idea with respect to this would be appreciated :)

Thank you!

[HaSu]

Hi

cool that you at least don't get that error anymore. Do you get any other errors? Do you get any point cloud data from any other topics related to the camera at all?
Are you checking for data with Rviz or with ros echo?

Unfortunately, I can't help much right now since I don't have access to a Pepper Robot today, but I can check in the upcoming days if I get the same issue - I haven't used pepper's point cloud yet at all. I'll let you know if I find something useful.

until then, Good Luck!
HaSu

[Ferran]

Hi,

No more errors are displayed in any of both versions, the start up goes smooth. 

Basically I do not get any messages coming from topics with the start: /pepper_robot/camera/depth_registered/... using Rviz or ros echo.

Thank you anyway :)

Ferran

[K]

Hi Hasu,

Thanks , I don't have access to Pepper anymore but I will keep this advice for future.

Regards
Kamal

[Ferran]

Well, after several trials I have got it up and running, so now, information is flowing to the the required topics and I suspect what I executed following this old post has a lot to do with it :)