Labbook Dutch Nao Team

Error Reports

~~The head of Princess Beep Boop (Nao4) crashed twice when an ethernet cable was plucked in, but this problem disappeared after flashing.~~Seems OK 13 December 2016.
Julia has a weak right shoulder (December 2016).
~~Bleu hips are squicking.~~Seems OK September 2015.
Bleu sound falls away. Loose connector? September 2015.
Nao's overheats faster when using arms than using legs.

Started Labbook 2017.

December 13, 2016

Did a service request for Mio, the latest v5 Nao (body ALDR1312N090181), because of blocked right shoulder.
Did a service request for Bertha, a v4 Nao (body ALDR1109F004786), because crash at boot (even with functional head).
Did a service request for Carlos, a v3.3 Nao (body ALDR1008E001502), because of left hip gear is broken.
The head of Princess Beep Boop crashed twice when an ethernet cable was plucked in, but this problem disappeared after flash.

November 22, 2016

Received the Nvidia Jetson TK1, yet failed to get remote access (peer-to-peer the laptop ip-address was 169.254.187.181, but no gateway to indicate the jetson's address). Easy to solve with a display, so that I will try later. Nicely shutting down is a bit more difficult without terminal, no response on the power button so I used the reboot button and sisconnected the power.
Connected the HDMI via a VGA-converter to a display. Borrowed a usb-hub from Caitlin, to connect both keyboard and mouse.
Connecting ethernet only gave me a inet6 address, as previously at the Kuka youBot. Introducing the wireless stick didn't help, couldn't find activation of wireless in settings.
Typing lsb_release -a revealed that it running Ubuntu 14.04.01 LTS (trusty).

October 19, 2016

The old publication list of the Dutch Nao Team is still available, next to the new publicaton list

October 12, 2016

Peter Stone is no. 179 on the list of Artificial Intelligence.

September 12, 2016

Sended White / Jenny / Patterson back to Aldebaran because his legs are clicking at wake-up and TaiChi after being serviced. Updated Nao-administration.

July 20, 2016

Sended White / Jenny to be serviced by Aldebaran (chestboard replacement, body cannot be found). Updated Nao-administration.

April 21, 2016

Received the motions.py from the Dutch Nao Team python-code. The suggested function is kick(angle). When the angle is beteeen 0 and 0.2 the robot kicks right, between -0.2 and 0 the robot kicks left. It seems that this function needs angleInterpolation and normalPose as support functions: # kick towards front, right leg def kick(angle): # angle slightly positive, kick towards left with rightleg if 0 <= angle < 0.2: names = ['RShoulderRoll', 'RShoulderPitch', 'LShoulderRoll', 'LShoulderPitch', 'RHipRoll', 'RHipPitch', 'RKneePitch', \ 'RAnklePitch', 'RAnkleRoll', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'LAnklePitch', 'LAnkleRoll'] angles = [[-0.3], [0.4], [1.0], [1.0], [0.0], [-0.4, -0.2], [0.95, 1.5], [-0.55, -1], [0.2], [0.0], [-0.4], [0.95], [-0.55], [0.2]] times = [[ 0.5], [0.5], [0.5], [0.5], [0.5], [ 0.4, 0.8], [ 0.4, 0.8], [0.4, 0.8], [0.4], [0.5], [ 0.4], [ 0.4], [ 0.4], [0.4]] angleInterpolation(names, angles, times, True) angleInterpolation(['RShoulderPitch', 'RHipPitch', 'RKneePitch', 'RAnklePitch', 'LShoulderPitch'], [1.0, -0.7, 1.05, -0.5, 0.2], [[0.1], [0.1], [0.1], [0.1], [0.1]], True) angleInterpolation(['RHipPitch', 'RKneePitch', 'RAnklePitch'], \ [-0.5, 1.1, -0.65], [[0.25], [0.25], [0.25]], True) normalPose(True) # kick towards front, left leg elif -0.2 < angle < 0: names = ['LShoulderRoll', 'LShoulderPitch', 'RShoulderRoll', 'RShoulderPitch', 'LHipRoll', 'LHipPitch', 'LKneePitch', 'LAnklePitch', \ 'LAnkleRoll', 'RHipRoll', 'RHipPitch', 'RKneePitch', 'RAnklePitch', 'RAnkleRoll'] angles = [[0.3], [0.4], [-0.5], [1.0], [0.0], [-0.4, -0.2], [0.95, 1.5], [-0.55, -1], [-0.2], [0.0], [-0.4], [0.95], [-0.55], [-0.2]] times = [[0.5], [0.5], [ 0.5], [0.5], [0.5], [ 0.4, 0.8], [ 0.4, 0.8], [ 0.4, 0.8], [ 0.4], [0.5], [ 0.4], [0.4] , [0.4], [0.4]] angleInterpolation(names, angles, times, True) angleInterpolation(['LShoulderPitch', 'LHipPitch', 'LKneePitch', 'LAnklePitch'], [1.0, -0.7, 1.05, -0.5], [[0.1], [0.1], [0.1], [0.1]], True) angleInterpolation(['LHipPitch', 'LKneePitch', 'LAnklePitch'], [-0.5, 1.1, -0.65], [[0.25], [0.25], [0.25]], True) normalPose(True)
The angleInterpolation function is actually defined in the MotionProxy, but overloaded to accommodate different Nao-models: def angleInterpolation(names, angles, times, isAbsolute): names = flatten_list([names]) expanded_names = list() for name in names: expanded_names.extend(EXPANDED_NAMES[name]) if JOINT_COUNT == 22: if not CONFLICTING_JOINT_NAMES.isdisjoint(expanded_names): conflicts = list() for i in range(len(expanded_names)): if expanded_names[i] in CONFLICTING_JOINT_NAMES: conflicts.append(i) if len(indices) >= max_conflicts: break for i in sorted(conflicts, reverse=True): angles.pop(i) times.pop(i) elif JOINT_COUNT == 26: if not CONFLICTING_JOINT_NAMES.isdisjoint(expanded_names): conflict_count = 0 max_conflict = len(CONFLICTING_JOINT_NAMES) angles = flatten_list([angles]) times = flatten_list([times]) for i in range(len(expanded_names)): if expanded_names[i] in CONFLICTING_JOINT_NAMES: #angles.insert(i, OPTIMAL_ANGLE[expanded_names[i]]) angles.insert(i, 0) times.insert(i, times[i-1]) conflict_count += 1 if conflict_count >= max_conflict: break return motProxy.angleInterpolation(names, angles, times, isAbsolute)
The function NormalPose only uses angleInterpolation, so no further dependences: # a normal pose from which walking is almost immediately possible def normalPose(force = False): anglelist = motProxy.getAngles(['RHipPitch','RKneePitch', 'RAnklePitch'],True) if force or not( getPose() == 'Stand' and -0.41 <= anglelist[0] <= -0.39 and 0.94 <= anglelist[1] <= 0.96 and -0.56 <= anglelist[2] <= -0.54): names = list() times = list() angles = list() names.extend( ['LShoulderPitch','LShoulderRoll','LElbowYaw','LElbowRoll','RShoulderPitch','RShoulderRoll']) angles.extend([[1.2], [0.15], [0.0], [0.0], [1.2], [-0.15] ]) times.extend( [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0 ] ]) names.extend( ['RElbowYaw','RElbowRoll','LHipYawPitch','LHipRoll','LHipPitch','LKneePitch','LAnklePitch']) angles.extend([[0.0], [0.0], [0.0], [0.0], [-0.4], [0.95], [-0.55]]) times.extend( [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0], [1.0]]) names.extend( ['LAnkleRoll', 'RHipRoll', 'RHipPitch', 'RKneePitch', 'RAnklePitch', 'RAnkleRoll'] ) angles.extend([[0.0], [0.0], [-0.4], [0.95], [-0.55], [0.0]] ) times.extend( [[1.0], [1.0], [1.0], [1.0], [1.0], [1.0]] ) angleInterpolation(names, angles, times, True)

April 19, 2016

The example code of October 2014 can now be found at http://doc.aldebaran.com/2-1/.
Also saw the post, that suggest to use the red ball tracker python-code of Choregraphe as example.
The default settings, follow the ball with the head, worked directly out of the box.
The documentation of the tracker is here.
Found a recent kick ball project from Boston University.
Published the code as: def kickBall(): # Activate Whole Body Balancer isEnabled = True motion.wbEnable(isEnabled) # Legs are constrained fixed stateName = "Fixed" supportLeg = "Legs" motion.wbFootState(stateName, supportLeg) # Constraint Balance Motion isEnable = True supportLeg = "Legs" motion.wbEnableBalanceConstraint(isEnable, supportLeg) # Com go to LLeg supportLeg = "LLeg" duration = 1.0 motion.wbGoToBalance(supportLeg, duration) # RLeg is free stateName = "Free" supportLeg = "RLeg" motion.wbFootState(stateName, supportLeg) # RLeg is optimized effectorName = "RLeg" axisMask = 63 space = mot.FRAME_TORSO # Motion of the RLeg dx = 0.025 # translation axis X (meters) dz = 0.02 # translation axis Z (meters) dwy = 5.0*math.pi/180.0 # rotation axis Y (radian) times = [1.0, 1.4, 2.1] isAbsolute = False targetList = [ [-0.7*dx, 0.0, 1.1*dz, 0.0, +dwy, 0.0], [+2.2*dx, +dx, dz, 0.0, -dwy, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]] motion.positionInterpolation(effectorName, space, targetList, axisMask, times, isAbsolute) # Example showing how to Enable Effector Control as an Optimization isActive = False motion.wbEnableEffectorOptimization(effectorName, isActive) time.sleep(1.0)
# Deactivate Head tracking isEnabled = False motion.wbEnable(isEnabled) # send robot to Pose Init posture.goToPosture("StandInit", 0.5) Yet, the high-school students complained that a function was missing.

April 13, 2016

For Johan Hibender's graduation, I checked who cited Luc Steel's book 'Language grounding in robots'.
At the UvA, I have direct access. Most interesting chapter seems to be Emergent Action Language on Real Robots.
The whole The Talking Heads experiment: Origins of words and meanings book is also online available.
In Handbook of Robotics I couldn't find a good entry on robot language.
Although more on simulation and communication-behaviors, maybe Emergence of communication in embodied agents: Co-adapting communicative and non-communicative behaviours is a good entry.
Via Evolution of Signaling in a Multi-Robot System I came to Self-organisation and communication in groups of simulated and physical robots, which actually is performed with real robots.
The article is cited by Evolving homogeneous neurocontrollers for a group of heterogeneous robots: Coordinated motion, cooperation, and acoustic communication, which is simulation again :-(.
Another recent paper: Evolution of implicit and explicit communication in mobile robots.
The Theory chapter is mainly on learning language, but in section 4.2.2 it gives an overview of the type of signals:
- emotional versus referential
- deictic versus displaced
- non-abstract versus abstract
- relational versus manipulative signals

April 2, 2016

Tested the new V5 robot Amber (head Nao15) with the Taichi-dance from Orange by loading the directory (from C:\activities\DNDD subdirectory).
Eagledance is nice. The dialog-demo takes long to setup. Untitled is just a root box of Choregraphe.

April 1, 2016

Creating a new virtual machine from the opn-image didn't work, because the disk was not recognized as bootable.
Found instruction from Aldebaran, and they recomment to use VirtualBox instead of VmWare. This works.
The Using the virtual machine gives some hints on how to use emerge.

March 31, 2016

Downloading opennao-atom-system-image-1.14.13.opn. There is also a opennao-vm-2.1.2.17.ova, which was used by Sebastien.
Started the opennao-vm on nb-ros, but the image couldn't mount its root disk. Should try it on nb-udk. Also fails.
The git/nao_robot is already up to date. This is a python based state_reporter, so could also work on the native nao.

March 30, 2016

When I startup /opt/openrobots/lib/robot_state_publisher/state_publisher I directly get an exit on Bus-error. When I start it as sudo ./state_publisher I get no error. When starting the script with sudo roslaunch is not found. When I start with the whole roslaunch nao_bringup nao.launch followed by manually adding state_publisher and diagnostic_aggregator their messages do not show up in rosnode list, so it looks if they are started with wrong settings. Starting roslaunch with sudo fails because roslaunch is not known (should modify the .bashrc of root).
Tried to edit the .bash_profile from root after sudo -s, but nano doesn't load the file. Installing vim failed, because emerge couldn't find vim, but suggests app-editors/vim (which it couldn't find).
Copied the .bashrc with WinScp to nb-udk, but the .bash_profile of the root is the same as from the user nao, only it is not sourced. Created a /root/.ros/log directory, and inspected roslaunch-nao-*.log. Both the robot_state_publisher and the diagnostic_aggregregator exit with -7. Looked at the github of robot_state_publisher, but the standard publisher don't has this exit. Yet, for the nao the robot_state_publisher is part of the nao_v4_description, so I should inspect that source-code.
Compilation from source-code with a Virtual Nao seems to be a lot of work.
Should inspect ros-naoqi github, it seems that the new nao-robot package is fully python based.

March 3, 2016

Tried to install apt-get install ros-indigo-husky-gazebo, but this depends on ros-indigo-gazebo-plugins
Continued with PAL's roboticsgroup nao_gazebo_plugin:
- git clone git@github.com:roboticsgroup/roboticsgroup_gazebo_plugins.git
- git clone git@github.com:pal-robotics/pal_msgs.git
- git clone git@github.com:pal-robotics/pal_gazebo_plugins.git
The nao_controller seems to be part of nao_driver, which is in hydro renamed to naoqi_driver, which is part of naoqi_bridge.
Checked what happens when I use naoqi_bridge: more ~/.ros/log/latest/nao_robot-pose-pose_manager-3.log [rospy.client][INFO] 2016-03-02 16:18:44,305: init_node, name[/nao_robot/pose/pose_manager], pid[1193] [xmlrpc][INFO] 2016-03-02 16:18:44,306: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2016-03-02 16:18:44,307: Started XML-RPC server [http://nb-ros:52845/] [rospy.init][INFO] 2016-03-02 16:18:44,307: ROS Slave URI: [http://nb-ros:52845/] [rospy.impl.masterslave][INFO] 2016-03-02 16:18:44,307: _ready: http://nb-ros:52845/ [rospy.registration][INFO] 2016-03-02 16:18:44,309: Registering with master node http://192.168.2.101:11311 [xmlrpc][INFO] 2016-03-02 16:18:44,309: xml rpc node: starting XML-RPC server [rospy.init][INFO] 2016-03-02 16:18:44,408: registered with master [rospy.rosout][INFO] 2016-03-02 16:18:44,408: initializing /rosout core topic [rospy.rosout][INFO] 2016-03-02 16:18:44,411: connected to core topic /rosout [rospy.simtime][INFO] 2016-03-02 16:18:44,414: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic [rosout][INFO] 2016-03-02 16:18:44,437: Loaded 7 poses: ['crouch', 'zero', 'StandZero', 'init', 'Stand', 'StandInit', 'hello'] [rospy.internal][INFO] 2016-03-02 16:18:44,664: topic[/rosout] adding connection to [/rosout], count 0 [rosout][CRITICAL] 2016-03-02 16:18:47,463: Could not connect to required "joint_trajectory" action server, is the nao_controller node running? [rospy.core][INFO] 2016-03-02 16:18:47,464: signal_shutdown [Required component missing] [rospy.internal][INFO] 2016-03-02 16:18:47,477: topic[/rosout] removing connection to /rosout [rospy.impl.masterslave][INFO] 2016-03-02 16:18:47,478: Required component missing [rospy.core][INFO] 2016-03-02 16:18:48,094: signal_shutdown [atexit] [rospy.client][INFO] 2016-03-02 16:19:31,795: init_node, name[/nao_robot/pose/pose_manager], pid[1274] [xmlrpc][INFO] 2016-03-02 16:19:31,795: XML-RPC server binding to 0.0.0.0:0 [xmlrpc][INFO] 2016-03-02 16:19:31,797: Started XML-RPC server [http://nb-ros:42348/] [rospy.impl.masterslave][INFO] 2016-03-02 16:19:31,797: _ready: http://nb-ros:42348/ [rospy.init][INFO] 2016-03-02 16:19:31,797: ROS Slave URI: [http://nb-ros:42348/] [xmlrpc][INFO] 2016-03-02 16:19:31,798: xml rpc node: starting XML-RPC server [rospy.registration][INFO] 2016-03-02 16:19:31,799: Registering with master node http://192.168.2.101:11311 [rospy.init][INFO] 2016-03-02 16:19:31,898: registered with master [rospy.rosout][INFO] 2016-03-02 16:19:31,898: initializing /rosout core topic [rospy.rosout][INFO] 2016-03-02 16:19:31,900: connected to core topic /rosout [rospy.simtime][INFO] 2016-03-02 16:19:31,901: /use_sim_time is not set, will not subscribe to simulated time [/clock] topic [rosout][INFO] 2016-03-02 16:19:31,912: Loaded 7 poses: ['crouch', 'zero', 'StandZero', 'init', 'Stand', 'StandInit', 'hello'] [rospy.internal][INFO] 2016-03-02 16:19:32,152: topic[/rosout] adding connection to [/rosout], count 0 [rosout][CRITICAL] 2016-03-02 16:19:34,927: Could not connect to required "joint_trajectory" action server, is the nao_controller node running? [rospy.core][INFO] 2016-03-02 16:19:34,928: signal_shutdown [Required component missing] [rospy.internal][INFO] 2016-03-02 16:19:34,931: topic[/rosout] removing connection to /rosout [rospy.impl.masterslave][INFO] 2016-03-02 16:19:34,931: Required component missing [rospy.core][INFO] 2016-03-02 16:19:35,547: signal_shutdown [atexit]
So, it seems that it requires nao_controller node, but instead a pose_controller is running:
roslaunch nao_bringup nao_full.launch nao_ip:=192.168.2.100 roscore_ip:=192.168.2.101 network_interface:=eth2 ... logging to /home/arnoud/.ros/log/0af01674-e08a-11e5-a8be-c8f7339f539e/roslaunch-nb-ros-6120.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://nb-ros:55470/ SUMMARY ======== PARAMETERS * /nao_robot/pose/pose_manager/poses/init/joint_names: ['Body'] * /nao_robot/pose/pose_manager/poses/init/positions: [0.0, 0.0, 1.39, ... * /nao_robot/pose/pose_manager/poses/init/time_from_start: 1.5 * /nao_robot/pose/pose_manager/poses/zero/joint_names: ['Body'] * /nao_robot/pose/pose_manager/poses/zero/positions: [0.0, 0.0, 0.0, 0... * /nao_robot/pose/pose_manager/poses/zero/time_from_start: 1.5 * /nao_robot/pose/pose_manager/xap: /home/arnoud/catk... * /rosdistro: indigo * /rosversion: 1.11.16 NODES /nao_robot/pose/ pose_controller (naoqi_pose/pose_controller.py) pose_manager (naoqi_pose/pose_manager.py) /nao_robot/ naoqi_driver (naoqi_driver/naoqi_driver_node) ROS_MASTER_URI=http://192.168.2.101:11311 core service [/rosout] found process[nao_robot/naoqi_driver-1]: started with pid [6138] process[nao_robot/pose/pose_controller-2]: started with pid [6139] process[nao_robot/pose/pose_manager-3]: started with pid [6140] Receiving information about robot model Traceback (most recent call last): File "/home/arnoud/catkin_ws/src/naoqi_bridge/naoqi_pose/nodes/pose_controller.py", line 49, in from naoqi_driver.naoqi_node import NaoqiNode ImportError: No module named naoqi_driver.naoqi_node

So, the pose_controller starts, but cannot import the naoqi_driver.

Did git https://github.com/ros-naoqi/naoqi_driver.git in catkin_ws/src.

Catkin_make doesn't make (should I switch CMakeLists.catkin to CMakeLists.tt), but I already did sudo apt-get install ros-indigo-naoqi-driver, as suggested by the documentation. Yet, I didn't added /opt/ros/indigo/setup.sh in my . Now it the naoqi_driver is found. Next step is getting started.

ROS_IP was set. rosrun naoqi_driver naoqi_driver_node --qi-url=tcp://:9559 --roscore_ip --network_interface is on my machine rosrun naoqi_driver naoqi_driver_node --qi-url=tcp://192.168.2.100:9559 --roscore_ip 192.168.2.101 --network_interface eth2

This fails, but after source /opt/ros/indigo/setup.sh it does.

Continue with installing ros on the nao. Opennao 2.10.19 seems to work. Installation script says:
To use ros, the following environment variables must contain those values: ROS_MASTER_URI http://localhost:11311 ROS_PACKAGE_PATH /opt/openrobots/share PYTHONPATH /opt/openrobots/lib/python2.7/site-packages PATH /opt/openrobots/bin As an alternative to the above configuration, commands can be executed by using the `env.sh' wrapper. For instance, roscore can be started like so: /opt/openrobots/etc/ros/env.sh roscore

Executing roslaunch nao_bringup nao.launch. Failed by missing yaml. Adding /opt/openrobots/etc/ros/env.sh to .bash_profile was no good idea (env.sh needs an argument, and couldn't login any more. Copying a empty bash_profile remotely solved this). Made a make_bash_profile from bootstrap.sh script.

Executing roslaunch nao_bringup nao.launch still fails, but now due to missing netifaces. Called sudo emerge netifaces again. Calculating dependencies for ever.

Installing netifaces while wireless connected is not a good option. Installed sudo emerge netifaces log4cxx poco while connected wired. Tried to refresh wireless connector, but web-interface complaint that no wireless card was found.

Launch starts succesfully, although one module complains about tinyxml.

Even installed sudo emerge libtinyxml and created symlink sudo ln -s /usr/lib/libtinyxml.so /usr/lib/libtinyxml.so.2.

Time to do some testing.

At home the wireless is working again :-)

Starting roslaunch nao_bringup nao.launchgives an error on missing libPocoFoundation.so.9, while /usr/lib/libPocoFoundationd.so.9#new is there.

Tried sudo emerge dev-libs/poco, but only /usr/lib/libPocoNetd.so.9 is installed

Tried sudo ln -s libPocoFoundationd.so.9#new libPocoFoundation.so.9.

Now only the aggregator_node and robot_state_publisher crash at start (nothing in the log).

Continue with Getting Started.

Installed sudo apt-get install ros-indigo-nao-meshes. nao.rviz is no longer in nao_robot/nao_description/config. Installed sudo apt-get install ros-indigo-nao-description, but also no nao.rviz.

I am not the only one without nao.rviz. The available urdf.rviz seems also to work (although I receive no images).

The command rosnode list gives an rather short answer:
/naoqi_driver_node /rosout /rviz_1457037842523160871 Should set the ROS_MASTER differently?

Moved the naoqi_driver out of my catkin_ws and could start roslaunch nao_bringup nao_full.launch nao_ip:=192.168.178.23 roscore_ip:=192.168.178.39 network_interface:=wlan0. Still only nao_robot extra as topic: rosnode list //nao_robot /naoqi_driver_node /rosout /rviz_1457037842523160871

Found the nao_robot/nao_bringup/config/nao_full.rviz

Still I got the warning that no Image is received, nor tf. rosnode cleanup says: cannot ping [//nao_robot]: unknown node

Also rosnode info /nao_robot -------------------------------------------------------------------------------- Node [/nao_robot] Publications: None Subscriptions: None Services: None cannot contact [/nao_robot]: unknown node

Tried the tomato_tracker code: python move.py. First had to install sudo apt-get install ros-indigo-moveit-commander: [INFO] [WallTime: 1457041283.879545] Starting moveit Takes a long time.

In Rviz I could add the MoveIt as MotionPlanner. I could add world.stl as Scene Object:

Looked at the models in robocup3ds. Could clone the code, but cmake fails on sdformat2. sudo apt-get install sdformat3 likes to deinstall gazebo5.

March 2, 2016

Inspected RoboCup Soccer Simulation 3D script. First check if you already installed gazebo (which can cause trouble :-)
The actual install command is apt-get install -y -q gazebo6-robocup3ds. Should check if package gazebo5-robocup3ds exists. No, unfortatenelly not.
Connected Blue to smc. Seems that wlan doesn't give it internet access.
Continue with Cross compiling.
Could also try Gazebo Nao tutorial from PAL-robotics
Installed the components of the ROS bridge: sudo apt-get install ros-indigo-driver-base ros-indigo-move-base-msgs 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
Downloaded the Linux 64 Naoqi 2.1.4 SDKs on nb-ros (only needed C++ and Python, but also downloaded crosscompilation package and choregraphe).
Was able to verify installation by succesfully execute naoqi-sdk-2.1.4.13-linux64/naoqi and python; from naoqi import ALProxy.
Connected both Blue and Red to SMC. Checkded dns of nb-ros with nm-tool | grep DNS. Connected SMC to internet. DNS seems to work, didn't receive ping from google or uva.nl.
Followed the instructions and naoqi_bridge, nao_robot and nao_extras are nicely installed in my catkin_ws, but the tutorial gives no clues how to use this packages.
Continue with nao_bringup.
Running roslaunch nao_bringup nao_full.launch nao_ip:=192.168.2.100 roscore_ip:=192.168.2.101 network_interface:=eth2 fails on naoqi_driver, which cannot resolve the name of the localhost.
nb-ros didn't have a /etc/hosts file, so I added one with localhost and nb-ros. Once localhost was defined naoqi_driver took off, although it complained about nao_controller not started.

March 1, 2016

The Soccer3D plugin for Gazebo can be found here: https://bitbucket.org/osrf/robocup3ds. Looks that I should try to install it by hand, to prevent problems with other packages.
I could test it with the code from FC Portugal (see article or the code from UT Austin Villa. The code from FC Portugal is more stand-alone and tested on Gazebo, so a better choice to start experimenting with.

February 23, 2016

The Nao3 head had a failed B-human installation, so I flash it with NaoQi 2.1.4 (this head is guaranteed working). Corresponding body is Red. Flashing is performed with one of the Kingston sticks (sticker RC 10.10 up!).
Following the Binary package instructions. For the Nao v3 I have to follow the Cross compiling instructions. I can also use the virtual-nao.
Nao is rebooting after a while, propably due to heating. Switch on autonomous life on via Choregraphe. Found a ros node that activates nao_life. This linked to nao_bringup, which will start publishers of several actuaotors and sensors, while the roscore is on the laptop.
First installing the dependencies: naoqi_driver by the command sudo apt-get install ros-indigo-naoqi-driver.
Followed the instructions and started ROS_IP=192.168.178.39 roscore after source ~/ROS/indigo_setup.sh. Yet, roscore complains that another roscore is running, although ps -eF | grep roscore only finds the grep. Should also check the ROS_MASTER_URI.
Tried the next step roslaunch naoqi_driver naoqi_driver.launch nao_ip:=192.168.178.22 roscore_ip:=192.168.178.39 network_interface:=wlan0 but the response is Unable to contact my own server at [http://nb-ros:39978/], check http://www.ros.org/wiki/ROS/NetworkSetup. After adding export ROS_IP=192.168.178.39 the script starts, but dies with qimessaging.transportsocket: connect: No route to host. Will reboot nb-ros to start with a clean roscore and try again.
Rebooted and also set export ROS_MASTER_URI=http://192.168.178.39:11311. Error was that I used the wired ip-adress of the robot (and I had removed the wire). Correct command was roslaunch naoqi_driver naoqi_driver.launch nao_ip:=192.168.178.23 roscore_ip:=192.168.178.39 network_interface:=wlan0. Yet, I get many warnings [W] 4698 qitype.signal: Exception caught from signal subscriber: Call argument number 0 conversion failure from LogMessage to LogMessage. Function signature: (LogMessage).. In addition I get the error message [ERROR] [1456438351.233148462]: Do not calculate NAO Footprint, no transform possible 1456438351.031429802, but that could be due to a sitting robot. Worse, the command rosnode info /nao_robot gives no information. The command rostopic list gives the following information:
/cmd_vel /diagnostics /joint_angles /joint_states /move_base_simple/goal /naoqi_driver_node/audio /naoqi_driver_node/bumper /naoqi_driver_node/camera/bottom/camera_info /naoqi_driver_node/camera/bottom/image_raw /naoqi_driver_node/camera/front/camera_info /naoqi_driver_node/camera/front/image_raw /naoqi_driver_node/imu/torso /naoqi_driver_node/info /naoqi_driver_node/sonar/left /naoqi_driver_node/sonar/right /naoqi_driver_node/tactile_touch /speech /tf
So, the command rosnode info /naoqi_driver_node gives the information:
Node [/naoqi_driver_node] Publications: * /naoqi_driver_node/audio [naoqi_bridge_msgs/AudioBuffer] * /naoqi_driver_node/camera/front/camera_info [sensor_msgs/CameraInfo] * /naoqi_driver_node/camera/front/image_raw [sensor_msgs/Image] * /naoqi_driver_node/camera/bottom/camera_info [sensor_msgs/CameraInfo] * /naoqi_driver_node/tactile_touch [naoqi_bridge_msgs/TactileTouch] * /naoqi_driver_node/sonar/left [sensor_msgs/Range] * /joint_states [sensor_msgs/JointState] * /rosout [rosgraph_msgs/Log] * /naoqi_driver_node/sonar/right [sensor_msgs/Range] * /tf [tf2_msgs/TFMessage] * /diagnostics [diagnostic_msgs/DiagnosticArray] * /naoqi_driver_node/camera/bottom/image_raw [sensor_msgs/Image] * /naoqi_driver_node/info [naoqi_bridge_msgs/StringStamped] * /naoqi_driver_node/bumper [naoqi_bridge_msgs/Bumper] * /naoqi_driver_node/imu/torso [sensor_msgs/Imu] Subscriptions: * /speech [unknown type] * /move_base_simple/goal [unknown type] * /cmd_vel [unknown type] * /joint_angles [unknown type] Services: * /naoqi_driver_node/get_loggers * /naoqi_driver/get_robot_config * /naoqi_driver_node/set_logger_level contacting node http://192.168.178.39:34312/ ... Pid: 5104 Connections: * topic: /rosout * to: /rosout * direction: outbound * transport: TCPROS
Performed a git clone https://github.com/ros-naoqi/nao_robot and copied this directory in catkin_ws/src. Moved a number of rockin packages from catkin_ws/src to catkin_ws/hydro. After the catkin_make, I added catkin_ws/install/share to ROS_PACKAGE_PATH in indigo_setup.sh.
Now the command roslaunch nao_bringup nao_full.launch nao_ip:=192.168.178.23 roscore_ip:=192.168.178.39 works, except that the resource naoqi_pose is not found. Check /usr/lib/python2.7/dist-packages/rospkg/rospack.py. Strange, naoqi_pose is part of nao_robot.
Cloned https://github.com/ros-naoqi/nao_extras, but nao_extras contains no src, only the additional directories nao_teleop and nao_path_follower. Removed it from catkin_ws for the moment.
In the nao_full.launch is the quote find naoqi_pose. Performed sudo apt-get install ros-indigo-naoqi-pose. Now the launch starts, but pose_controller dies because it doesn find naoqi_driver (it is now called naoqi_driver_node). Also pose_manager is killed, because no nao_controller is running:
started roslaunch server http://192.168.178.39:54256/ SUMMARY ======== PARAMETERS * /nao_robot/pose/pose_manager/poses/init/joint_names: ['Body'] * /nao_robot/pose/pose_manager/poses/init/positions: [0.0, 0.0, 1.39, ... * /nao_robot/pose/pose_manager/poses/init/time_from_start: 1.5 * /nao_robot/pose/pose_manager/poses/zero/joint_names: ['Body'] * /nao_robot/pose/pose_manager/poses/zero/positions: [0.0, 0.0, 0.0, 0... * /nao_robot/pose/pose_manager/poses/zero/time_from_start: 1.5 * /nao_robot/pose/pose_manager/xap: /opt/ros/indigo/s... * /rosdistro: indigo * /rosversion: 1.11.16 NODES /nao_robot/pose/ pose_controller (naoqi_pose/pose_controller.py) pose_manager (naoqi_pose/pose_manager.py) /nao_robot/ naoqi_driver (naoqi_driver/naoqi_driver_node) ROS_MASTER_URI=http://192.168.178.39:11311 core service [/rosout] found process[nao_robot/naoqi_driver-1]: started with pid [9177] process[nao_robot/pose/pose_controller-2]: started with pid [9178] process[nao_robot/pose/pose_manager-3]: started with pid [9179] Traceback (most recent call last): File "/opt/ros/indigo/lib/naoqi_pose/pose_controller.py", line 49, in from naoqi_driver.naoqi_node import NaoqiNode ImportError: No module named naoqi_driver.naoqi_node [nao_robot/pose/pose_controller-2] process has died [pid 9178, exit code 1, cmd /opt/ros/indigo/lib/naoqi_pose/pose_controller.py --pip=192.168.178.23 --pport=9559 __name:=pose_controller __log:=/home/arnoud/.ros/log/f926de74-dc0a-11e5-8856-c8f7339f539e/nao_robot-pose-pose_controller-2.log]. log file: /home/arnoud/.ros/log/f926de74-dc0a-11e5-8856-c8f7339f539e/nao_robot-pose-pose_controller-2*.log Receiving information about robot model [W] 9177 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s [W] 9177 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to [[m]] set prefix successfully to [I] 9177 qimessaging.session: Session listener created on tcp://0.0.0.0:0 [I] 9177 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:38053 [I] 9177 qimessaging.transportserver: TransportServer will listen on: tcp://146.50.69.42:38053 [I] 9177 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.149.1:38053 [I] 9177 qimessaging.transportserver: TransportServer will listen on: tcp://172.16.124.1:38053 [I] 9177 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.178.39:38053 terminate called after throwing an instance of 'qi::FutureUserException' what(): Service "ROS-Driver" (#1749) is already registered. Rejecting conflicting registration attempt. ================================================================================REQUIRED process [nao_robot/naoqi_driver-1] has died! process has died [pid 9177, exit code -6, cmd /opt/ros/indigo/lib/naoqi_driver/naoqi_driver_node --qi-url=tcp://192.168.178.23:9559 --roscore_ip=192.168.178.39 --network_interface=eth0 __name:=naoqi_driver __log:=/home/arnoud/.ros/log/f926de74-dc0a-11e5-8856-c8f7339f539e/nao_robot-naoqi_driver-1.log]. log file: /home/arnoud/.ros/log/f926de74-dc0a-11e5-8856-c8f7339f539e/nao_robot-naoqi_driver-1*.log Initiating shutdown! ================================================================================ [nao_robot/pose/pose_manager-3] killing on exit [nao_robot/naoqi_driver-1] killing on exit [FATAL] [WallTime: 1456442443.836210] Could not connect to required "joint_trajectory" action server, is the nao_controller node running? shutting down processing monitor... ... shutting down processing monitor complete done
Should try virtual-nao installation

February 10, 2016

Instead of the simple approximation, the tomato-detector pixels should be converted into an tf-frame with the package image_geometry. There is a C++-tutorial to project a TF frame into an image, not the other way around. The link to OpenCV 3d reconstruction is broken, the documentation is now on docs.opencv.org. Probably the Fish eye model is enough.
Llofriu uses a camera_info_manager.py ROS module to publish the camera_info. The pinhole camera model is then used to generate a point in the camera framework (imgx/fx, imgy/fy, 1), with fx and fy the calibrated focal distances published by the camera_info_manager.py. The point in the camera framework is than transformed to the floor plane (in our case the table) with the TF ROS package. In principal the nao_remote should publish with 50 Hz the /gaze msg.

January 12, 2016

Read an overview article about commonsense reasoning, which indicated that on a four areas progress was made (taxonomic reasoning, temporal reasoning, action & change and qualitative reasoning). For action & reasoning they pointed to the use of Golog in RoboCup soccer; a paper of Gerhard Lakemeyer, RWTH Aachen.
The Golog paper could be used for a Bachelor project, where the Golog is combined with URBI (both use sequence and nondeterministic choice). Combining it with ROS will be more difficult. Should check if Golog is still available, and what the status of URBI is.
The combination with decision-making is based on a work of Thrun (AAAI 2000), so the literature study has found its root.

January 4, 2016

Red came back from the repair-shop. Still Z-knikker software on its head (Nao3). Tested with penalty shootout. Walks fine and is able to stand up.
Created a flash-disk (NaoQi 2.1.3) on one of the Kingmax sticks, with the flasher.bat in C:\Programs\Aldebaran\v1.14.5\nao-flasher-1.12.5-win64, run in admin-mode.
Updated github with the Nao-adminstration.
usb seems to be repaired, because the flash process has started. Checking the progress with the leds. Successfully performed a wakeup sequence. Asks to be rebooted.
Connected the robot to the DNT network and performed a Tai Chi. This robot is ready to go.