Installing ROS for Nao

[Huawei Moon]

Hi Guys

I am looking for anyone who can help me to install Ros for Nao and simulate it in Gazeboo , Moveit ...etc. I will pay him reasonably  if he likes. I am not gona waste more time on that. Please , anyone able to help me contact me in my email huawe...@gmail.com

.We find a way to contact fast 

thanks 

[Dang Thi Hai Ha]

Hi,

What did you try? What problem do you get?

Regards,

Ha Dang.

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[Vincent Rabaud]

What went wrong with those instructions ?
http://wiki.ros.org/nao/Tutorials/Installation#Installation_of_ROS_for_the_Nao_robot

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[Huawei Moon]

Hi
Thank you for offering help
these steps I do my installing
1- instal ROS indigo in ubuntu 14.04
2- setup environment
 

$ env | grep ROS
ROS_ROOT=/opt/ros/indigo/share/ros
ROS_PACKAGE_PATH=/home/nao/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
ROS_MASTER_URI=http://localhost:11311
ROS_TEST_RESULTS_DIR=/home/nao/catkin_ws/build/test_results
ROSLISP_PACKAGE_DIRECTORIES=/home/nao/catkin_ws/devel/share/common-lisp
ROS_DISTRO=indigo
ROS_ETC_DIR=/opt/ros/indigo/etc/ros

3-create new folder Naoqi

install naoqi-sdk-2.1.0.19-linux64
pynaoqi-python2.7-2.1.2.17-linux64
 "export PYTHONPATH=$PYTHONPATH:/home/nao/pynaoqi-python2.7-2.1.2.17-linux32" >> ~/.bashrc
source ~/.bashrc

check naoqi
nao@nao-Lab:~/naoqi/naoqi-sdk-2.1.0.19-linux64$ ./naoqi
15381 core.naoqi: NAOqi is ready...

check python
$ python
Python 2.7.6 (default, Mar 22 2014, 22:59:56)
[GCC 4.8.2] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> import naoqi
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
ImportError: No module named naoqi
 

3- install Nao Packages and Stacks ( most problem I face )

please advice me which is the best packages for nao . every time I clone package and then compile I get different error

src $ git clone https://github.com/ros-naoqi/nao_robot

catkin_make
 3- setup my ./bashrc

please can you help and follow my steps to know where is my mistake is
thanks

[Karsten K]

Hey,

I am sorry. This seems I made a mistake in the documentation. Please check that the following line is actually the correct python folder you downloaded from the aldebaran community website. 

3-create new folder Naoqi

install naoqi-sdk-2.1.0.19-linux64
pynaoqi-python2.7-2.1.2.17-linux64
 "export PYTHONPATH=$PYTHONPATH:/home/nao/pynaoqi-python2.7-2.1.2.17-linux32" >> ~/.bashrc
source ~/.bashrc

 

When your downloaded module is pynaoqi-python2.7-2.1.2.17-linux64, please put the same line inside your bashrc.

 "export PYTHONPATH=$PYTHONPATH:/home/nao/naoqi/pynaoqi-python2.7-2.1.2.17-linux64" >> ~/.bashrc 

If this is correctly setup, please try to execute the little python check again and let me know if it helps.

$ python
Python 2.7.6 (default, Mar 22 2014, 22:59:56)
[GCC 4.8.2] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> import naoqi
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
ImportError: No module named naoqi
 

Thanks for noting it. Very appreciated :)

Karsten

[Huawei Moon]

Hi
thanks for help
really I appreciate it
I manage to see the nodes for Nao
I like to run rviz but have problem with meshes
I got this error
last line
[ERROR] [1425206602.994025598]: Could not load model 'package://nao_meshes/meshes/V40/collision/Torso.stl' for link 'torso': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://nao_meshes/meshes/V40/collision/Torso.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
 can not see nao in rviz
thank you

[Vincent Rabaud]

right, you need the ros-*-nao-meshes package to be installed: we did not set it as a dependency because it was creating problems on the buildfarm (as it included a license file). Those are fixed now so we will probably re-add it.

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[Huawei Moon]

Thanks
so what is solution in this case
I clone it from github  but seems not working

[Vincent Rabaud]

The Ubuntu package is easier. If you want from source please follow the instructions in the readme file of nao_meshes.

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[Karsten K]

simply run (under ubuntu) 

for ROS indigo:

sudo apt-get install ros-indigo-nao-meshes

this will trigger the license agreement, which you have to accept. Then everything will work just fine.

I updated the ROS wiki over the weekend.

Please have a look at http://wiki.ros.org/nao/Tutorials/Getting-Started until inclusive section 2.) 

If you follow the instructions so far, you should end up with a similar screenshot as shown.

let me know if it helps.

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[heromoga2000]

hi
I install meshes from 

sudo apt-get install ros-indigo-nao-meshes 
and accept licence 
roslaunch nao_description nao_state_publisher.launch
setup rviz evironment
but still no display
error 

[ WARN] [1425296121.419969898]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://nao_meshes/meshes/V40/collision/Torso.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1425296121.420119522]: Could not load model 'package://nao_meshes/meshes/V40/collision/Torso.stl' for link 'torso': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://nao_meshes/meshes/V40/collision/Torso.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ WARN] [1425296121.420270382]: OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://nao_meshes/meshes/V40/collision/Torso.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[ERROR] [1425296121.420429181]: Could not load model 'package://nao_meshes/meshes/V40/collision/Torso.stl' for link 'torso': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://nao_meshes/meshes/V40/collision/Torso.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

[heromoga2000]

Thanks All
I see the update in wiki page
thanks for updating
I still have no Nao in rviz even with the new updates
I am thinking that the problem from my Nao package
please which packes that use to  Displaying NAO in RVIZ in 3D
In my package  . there is no

src/nao_robot/nao_description/config/nao.rviz


thanks

[Mikael Arguedas]

I think that nao_description on the official repo is not up to date (your version should be (0.5.5 or higher).

Either clone it from github or get it from the ros shadow-fixed repo. This should solve your problem.

For the config file, you should have a "nao_robot/nao_description/config/urdf.rviz", this is the one used to display in RVIZ.

Hope this helps,

Mikael

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[Karsten K]

@Mikael: Why do we have 2 rviz configurations? What's the difference between urdf.rviz and nao_full.rviz?

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[Mikael Arguedas]

No idea, where does the nao_full.rviz comes from ? I see only one on the nao_description package. Where is stored the other one ?

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[Huawei Moon]

Hi Karsten
I do use urdf.rviz in my package
I have a "nao_robot/nao_description/config/urdf.rviz"
and still not working
can you help me and tell me wich Nao package I should clone from github
thanks

[Mikael Arguedas]

@heromoga2000 : do you have a robot attached ? Or simulated ? the robot state publisher convert the joint_states int tf (so frames that you can see in RVIZ).
If you don't have any joint_states published, you cannot see anything in RVIZ. the best way to check that is to run "rostopic echo /joint_states", and "rostopic echo /tf" to see if the transforms are well generated.
If you just want to display a static NAO in RVIZ you can run roslaunch nao_description display.launch. This will display a robot with all its joints in initial position (zero pose of Choregraphe).

Does any of you has error message in the terminal ? maybe naoqi_joint_state node is not running properly.
Maybe Karsten will have more hints tomorrow morning

[Karsten K]

How did you install your ROS packages? Please get sure you follow the instructions here;

http://wiki.ros.org/nao/Tutorials

If you follow 1.) Installation and 2.) Getting-Started on a real NAO, you will see it inside your RVIZ using one of the pre-defined RVIZ configuration files.

As Mikael said, please post any error messages. With this, I can have an idea what you did and can help you debug better.

Cheers

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[Huawei Moon]

HI
I follow them but they do not mentioned which package i must install
every time I install package I get an error
let me start again
i will delete all packages I have  and
I will install all package from this website https://github.com/ros-naoqi in src  (if this work with ubuntu 14.04 ? )
should I add any other packages ?
and keep same pynaoqi and nao sdk
and run  catkin_make and will see

[Karsten K]

I follow them but they do not mentioned which package i must install
every time I install package I get an error

Have a look 

here http://wiki.ros.org/nao/Tutorials/Installation#ROS_packages_for_the_Nao_robot 

and http://wiki.ros.org/nao/Tutorials/Installation/remote 

There is no need to install everything from github. The only two packages you preferably need from github are

- nao_robot

- naoqi_bridge

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[Huawei Moon]

Hi
I install and I got this error when i try to do catkin_make
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a package configuration file provided by "move_base_msgs"
  with any of the following names:

    move_base_msgsConfig.cmake
    move_base_msgs-config.cmake

  Add the installation prefix of "move_base_msgs" to CMAKE_PREFIX_PATH or set
  "move_base_msgs_DIR" to a directory containing one of the above files.  If
  "move_base_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  nao_extras/nao_path_follower/CMakeLists.txt:19 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/nao/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/nao/catkin_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

[Karsten K]

You need to install all ROS related dependencies. 

The one you are missing here is ros-indigo-driver-base

All dependencies are listed here: http://wiki.ros.org/nao/Tutorials/Installation#ROS_packages_for_the_Nao_robot

Just execute the command shown in the ROS wiki.

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[Huawei Moon]

I already have them
i run this command

sudo apt-get install ros-indigo-driver-base ros-indigo-octomap ros-indigo-octomap-msgs ros-indigo-humanoid-msgs ros-indigo-humanoid-nav-msgs ros-indigo-camera-info-manager ros-indigo-camera-info-manager-py
and 
sudo apt-get install ros-indigo-driver-base
ros-indigo-driver-base is already the newest version.
0 upgraded, 0 newly installed, 0 to remove and 280 not upgraded.
then catkin_make again
I got same error

CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a package configuration file provided by "move_base_msgs"
  with any of the following names:

    move_base_msgsConfig.cmake
    move_base_msgs-config.cmake

  Add the installation prefix of "move_base_msgs" to CMAKE_PREFIX_PATH or set
  "move_base_msgs_DIR" to a directory containing one of the above files.  If
  "move_base_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  nao_extras/nao_path_follower/CMakeLists.txt:19 (find_package)


-- Configuring incomplete, errors occurred!
See also "/home/nao/catkin_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/nao/catkin_ws/build/CMakeFiles/CMakeError.log".

make: *** [cmake_check_build_system] Error 1
Invoking "make cmake_check_build_system" failed

[heromoga2000]

I solve the problem by running
catkin_ws$rosdep install --from-paths src -i -y
then catkin_make
thank you all

[Mikael Arguedas]

You're welcome!

This might solve the problem of Huawei Moon also since he seems to be missing some dependencies.

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[Karsten K]

Glad to hear it works now!

Just for clarification. The move_base_msgs are part of the nao_extra packages, which are not needed by default to launch your NAO robot in RVIZ.

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[Huawei Moon]

Thank you Hero
Thank you All
i solved it by using same command but i still not seeing nao in Rviz
in rviz everything fine
robot model ok no error  but when I run rosrun rviz rviz
i got this error
some lines
: Could not load model 'package://nao_meshes/meshes/V40/RHipYawPitch.dae' for link 'RPelvis': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://nao_meshes/meshes/V40/RHipYawPitch.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
 Could not load model 'package://nao_meshes/meshes/V40/Torso.dae' for link 'torso': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://nao_meshes/meshes/V40/Torso.dae in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)
[1425358795.690859562]: Could not load model 'package://nao_meshes/meshes/V40/Torso_0.10.stl' for link 'torso': OGRE EXCEPTION(6:FileNotFoundException): Cannot locate resource package://nao_meshes/meshes/V40/Torso_0.10.stl in resource group Autodetect or any other group. in ResourceGroupManager::openResource at /build/buildd/ogre-1.8-1.8.1+dfsg/OgreMain/src/OgreResourceGroupManager.cpp (line 756)

it seems that rviz not update the joint-state publisher
anyone have ideas
thanks

[Mikael Arguedas]

It seems that the package nao_meshes is still not well installed on your marchine.

Can you try to run:

sudo apt-get remove --purge ros-indigo-nao-meshes

and then

sudo apt-get install ros-indigo-nao-meshes

When the licence shows up, hitting Enter should be enough (or Tab to select the "Yes" button and then Enter)

Then run a "rospack profile" and you should be good to go

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[Huawei Moon]

I still have the same problem even I remove it and install it again
nao@nao-Lab:~$ sudo apt-get install ros-indigo-nao-meshes
Reading package lists... Done
Building dependency tree      
Reading state information... Done
The following NEW packages will be installed:
  ros-indigo-nao-meshes
0 upgraded, 1 newly installed, 0 to remove and 283 not upgraded.
Need to get 0 B/2,059 kB of archives.
After this operation, 12.2 MB of additional disk space will be used.
Preconfiguring packages ...
Selecting previously unselected package ros-indigo-nao-meshes.
(Reading database ... 231593 files and directories currently installed.)
Preparing to unpack .../ros-indigo-nao-meshes_0.1.8-0trusty-20141229-2146-+0000_amd64.deb ...
Unpacking ros-indigo-nao-meshes (0.1.8-0trusty-20141229-2146-+0000) ...
Setting up ros-indigo-nao-meshes (0.1.8-0trusty-20141229-2146-+0000) ...

and here is rviz starting message

nao@nao-Lab:~$ rosrun rviz rviz
[ INFO] [1425421987.709082299]: rviz version 1.11.4
[ INFO] [1425421987.709374820]: compiled against OGRE version 1.8.1 (Byatis)
[ INFO] [1425421988.192755880]: Stereo is NOT SUPPORTED
[ INFO] [1425421988.193264901]: OpenGl version: 3 (GLSL 1.3).

any solution please

[Mikael Arguedas]

The RVIZ starting message is completely normal. do you have any error when you launch rviz ?
You haven't purged your apt. "Need to get 0 B/2,059 kB of archives" << means that you have it on your computer

If you had purged it it should download the package and then display the license.

Then you need to hit Tab and Enter to select the OK button. You then have a second message displayed, you need to hit Enter to select the Yes button.

then can you paste the output of:

"rosls nao_meshes/meshes/V40"

Thanks,

Mikael

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[Huawei Moon]

HI
I do install nao-mehes and I accept the license by pressing Yes
$ rosls nao_meshes/meshes/V40
ls: cannot access /home/nao/catkin_ws/src/nao_meshes/meshes/V40: No such file or directory

in nao_meshes folder I have
debian_license  CHANGELOG.rst cmake  licence  package  readme
only

[Mikael Arguedas]

Ok so the issue is that you have a folder nao_meshes in your catkin workspace. Have you cloned it for github before installing the packages with apt-get ? You shouldn't have that folder in your workspace, you installed from apt-get so nao_meshes should be in /opt/ros/indigo/share/.

can you delete the folder /home/nao/catkin_ws/src/nao_meshes?

then run "rospack profile" and try "roscd nao_meshes" you should end up in the /opt/ros/indigo/share/nao_meshes folder.
If this is the case, you should be able to display your robot in RVIZ

Regards,

Mikael

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[heromoga2000]

nao@nao-Lab:~$ roscd nao_meshes
nao@nao-Lab:/opt/ros/indigo/share/nao_meshes$
$roscore
$~/naoqi/naoqi-sdk-2.1.0.19-linux64/naoqi --verbose --broker-ip 127.0.0.1

$LD_LIBRARY_PATH=~/naoqi/naoqi-sdk-2.1.0.19-linux64/lib:$LD_LIBRARY_PATH NAO_IP=127.0.0.1 
$rosrun rviz rviz
 finally  I can see nao in Rviz, thank you all
really I appreciate how are were patient with me 
thank you all of you
I hope this will help anyone wana install ROS for Nao
thanks alooooooooooooooooooooooooooooooooooooot