Labbook Dutch Nao Team

28 September 2010

• Tested the next version of the program; LantronixCounter.c. This version now updates the webpage depending on the times the button is pushed.
• Adding avi and png types to tiny.c helped to display the video from Cogniron.
• Unfortunatelly, Firefox doesn't associate Mime-format msvideo with Windows Media Player.
• Tried to associate avi with Quicktime, but this failed. Code works with Opera and IE. Try Opera tomorrow how Opera reloads.
• Finally, found this FireFox WMP plugin , which also works for Windows7 and Firefox 3.6.10.
• Actually, both works for video/avi and video/x-msvideo. Prefer Mime type video/avi :-)

27 September 2010

• Made a modified program, which test the status every time the return-key is hit. Program works with CSAPP's robust I/O package (unbuffered variants), to allow easy incorporation with their tiny webserver.
• Tested Rouge with Choregraphe 1.6.13 (after installation on nb-unreal). Taichii fails on front of carpet, but works at the back of the carpet.

23 September 2010

• Tried to connect again to the Latronix. Configured that my labtop only connects to peer-to-peer networks, and now the connection is made. Yet, the server at 169.254.0.10 is not reachable by ping. Edwin suggested to reset several times until it works.
• The page of the stereo-camera board has no information about the Latronix communication server.

22 September 2010

• Looked at Edwin's code to connect to a Lantronix embedded webserver DSTni. Edwin used the MatchPort documentation to implement this interface. There are several guides available for the MatchPort.
• Installed Cygwin's gcc-g++ package, and was able to compile the program with gcc 3.4.4 (after removing some warnings and strict errors).
• The webserver DSTni is visible as peer-to-peer connection SRV1. It gives nb-unreal ip-adress 169.254.4.88, and reserves for himself 169.254.0.10. Edwin's code can be activated with call ConnectLantronix.exe 169.254.0.10 30704.
• Modified the code so that it uses default values when no arguments given.
• The embedded server has also a webinterface, which can be used to configure the device.
• Tested the setup with Shaky. Worked fine. Could also read out that the button was toggled by the sack.
• Compiled without problems the tiny server under cygwin. Could load ./home.html in the directory of the tiny.exe. Both worked for local loopback 127.0.0.1:8000 and the wired ip-adress 192.168.0.112:8000.
• Now a page to link to :-)!

17 September 2010

• Brown's 'Builing Intelligent Robot' course gives insides about ROS.

19 August 2010

• Renamed the reference in nao_opening.py of nao_walking to get_nao_leg_moves. Demo works.
• Found out that the Rouge's microphones are behind the white tape, which could explain the noise in the recording sent to Aldebaran.
• Tried to flash an 1.3.8L stick from Choregraphe 1.6.13, but this only works for 1.3.17 and higher.
• Flashed the memory stick with script in NaoQiAcademicsvc80-1.3.8-win32\tools.
• Renamed the reference in nao_opening.py of nao_walking to get_nao_leg_moves. Demo works.
• Found out that the Rouge's microphones are behind the white tape, which could explain the noise in the recording sent to Aldebaran.
• Tried to flash an 1.3.8L stick from Choregraphe 1.6.13, but this only works for 1.3.17 and higher.
• Flashed the memory stick with script in NaoQiAcademicsvc80-1.3.8-win32\tools. Downloaded v1.41.12 of e2fsprogs to be able to update network settings on stick. That is for Linux and/or Cygwin. Downloaded v0.48 from ext2fsd and installed it on u153. Flashed again, because ext2fsd reports that the file system is RAW, and not EXT3. Removed the stick and reinserted. This time the file system was recognized. Nao didn't boot on this disk.
• Downloaded aldebaran-cpp-sdk-1.6.13-win32-vc90.zip. This package contains in its bin-directory the new flasher.exe application.
• With this freshly made stick the Nao boots, but doesn't connect to the network (also not wired). Did it again, this time with original gzipped image.
• Still, no connection. Strange enough, also do not see that the connection is active on the router (yes, I changed wires). With the 1.6.0, ifconfig also doesn't report a ip-number for the wired interface. Changed the two sticks, giving Blue the working stick of Rouge, and Rouge the freshly made stick. Now I could make a wired connection. Used the webinterface to activate wireless connection.
• Changed it back again, put a small wig below the ethernet connector and lay the cable over the head. Now I see three wired connections at the access point. No wireless connection, but I could activate that again via the webinterface.
• Also had to activate the wireless again for Rouge. Another difference is that Rouge has 5 behaviors, while Bleu reports n/a.
• Succesfully performed the demo, although neither robot recognized their command.

18 August 2010

• Bleu-1, calling itself Blanche, didn't connect wirelessly. Couldn't find /etc/wpa_supplicant.conf. Configured the wireless via the new webinterface. Blue is running NaoQi version 1.6.13, including speech recognition software. Changed the volume from 71 to 87 (equal to Rouge).
• Rouge-2, still calling itself Nao, also didn't connect, although it new already the password. Rouge is running NaoQi version 1.6.0. Changed name to Rouge.
• Browsed the Advanced tab. All devices with version 30 and bootloader 7 showed error 168. Only LeftHandBoard shows error 113. No idea about the concequence.
• Activated urbi by adding urbistarter to /opt/naoqi/preferences/autoload.ini. Could connect with UrbiConsole:
  .
• Bleu doesn't have voicerecognition. Inspected /opt/naoqi/lib. Rouge has an seperate directory for gostai here! More important, Rouge has /opt/naogi/lib/naoqi/libaudioin.so. /opt/naoqi/lib/autoload.ini (as used in the GermanTeam code) doesn't exist anymore.
• Downloaded naointro-code from google-code. Code loads naoqi.py from "C:\Program Files\Aldebaran\Choregraphe 1.6.13\lib". Gave for the moment the 1.3.8 equivalent D:\Programs\Aldebaran\Choregraphe\Naoqi\extern\python\aldebaran. Didn't work, so downloaded the requested Choregraphe 1.6.13 (including improved speech recognition).
• Downloaded PyAIML, because get_nao_speech.py has a dependence on this package. Also downloaded Python Imaging Library 1.1.7 and OpenCV 2.1, because every file had an unneccessary reference to these modules. OpenCV fials to load DLL (maybe need restart), so removed last unneccessary reference.
• Project is missing file get_nao_walk.py. import nao_opening fails with:
  Error when creating speech recognition device proxy:modulename: 'ALNetwork' method: 'getModuleByName'
desc: 'failed to get module ALSpeechRecognition http://192.168.0.90:9559'
from file: ..\..\..\..\..\src\lib\alcommon\src\alnetwork.cpp:943
Error when setting the paqrameters for speech recognition device: 'NoneType' object has no attribute 'setLanguage'
error while executing the demo: global name 'getNaoLegMoves' is not defined
First lines are the warning that Bleu doesn't have the SpeechRecognition module running.
• When I do robot.inspect in the UrbiConsole, I get the following information:
  #[0000902859] *** Inspecting robot
#[0000902863] *** ** Prototypes:
#[0000902865] *** Component
#[0000902879] *** Tracker
#[0000902884] *** Mobile
#[0000902886] *** Group
#[0000902888] *** ** Local Slots:
#[0000902908] *** battery : Interface
#[0000902916] *** body : Component
#[0000902921] *** cachedNames : Dictionary
#[0000902926] *** componentName : String
#[0000902934] *** go : Code
#[0000902938] *** identity : humanoid
#[0000902945] *** members : List
#[0000902950] *** motionLock : Mutex
#[0000902957] *** network : Network
#[0000902962] *** parentComponent : nil
#[0000902968] *** pitch : ALMotor
#[0000902976] *** turn : Code
#[0000902981] *** voice : UALProxy
#[0000902987] *** walk : Code
#[0000902994] *** yaw : ALMotor

• If I type robot.battery.inspect;, I get:
  #[0001446842] *** compactName : String
  #[0001446847] *** componentName : String
  #[0001446853] *** current : UVar
  #[0001446858] *** getProperty : Code
  #[0001446865] *** parentComponent : Component
  #[0001446870] *** power : UVar
  #[0001446877] *** val : UVar
  

  => robot.battery.current;
  #[0001470502] 0.531
  

  => robot.battery.power;
  #[0001478614] 4
  

  => robot.body.inspect;
  #[0001716124] *** Inspecting body
  

  => robot.body.temperature.val;
#[0001853738] 29.7


• Found out how to work with components:

  => robot.body.head.ear.inspect;
  #[0001956225] *** Inspecting ear< left, right>
  #[0001956227] *** ** Prototypes:
  #[0001956232] *** Component
  #[0001956254:error] !!! /opt/naoqi/bin/../share/gostai/urbi/component.u:131.21-29: unexpected void
  

  => robot.body.head.ear[left].led.inspect;
  #[0002246835] *** Inspecting led<0, 1, 2, 3, 4, 5, 6, 7, 8, 9>
  

  => robot.body.head.ear[left].led[0].val;
  #[0002360404] 0
  

16 August 2010

• Received a movie from the opening scenario. Works fine, only have to remove the cables and make the walking secure.
  Movie.
  
• Made a construction for the bottle to hit. Tested it manually and it worked flawlessly three times:
  .
  

11 August 2010

• Tried if the bag could switch the light on and off. With some additional straws and the removal of the wheels this works:
   .
  First experiments with bag and bottle.

27 May, 2010

• Discussed the demo at the opening of institute. The idea is now to have a large red button on wheels, dragged by an Aibo and pushed by a Nao. The team stops before the second Nao, who stands up from a lying position and push the large red button.
• Installed Aldebaran SDK 1.6.0 for Visual Studio 2005 on pc-unreal (including C++ libraries). This installation package works! Unfortunatelly, the Choregraphe Activation Key not!!
• The forum indicates that the installation, and that yesterday a new version was made available. This one installs (although no link is made for other users than software). This version also doesn't accept the activation-key. Send an email to Tarik.

25 May, 2010

• Tried to install Python 2.6.4 and Choregraphe 1.6.13 on my desktop-pc u305.
• Unfortunatelly, Choregraphe has problems with its msi. Try 1.6.0 when site is online again.
• Tried to install NaoQi.Net SDK 1.6.13, which also failed. Tried again as admin with command runas /noprofile /user:machine\username "MSIEXEC /I D:\tmp\NaoQiDotNet-1.6.13-win32-vc90.msi", but that also failed with errorcode 2103.

Nao's Labbook

• Labbook 2010
• Labbook 2009