ros-naoqi / nao_virtual Goto Github PK

all tools to simulate nao robot

License: Apache License 2.0

CMake 21.79% Python 78.21%

nao_virtual's Issues

ALMemory::getData. Data not found RobotConfig/Body/Type

I am using ubuntu18.04.
I have run roscore, and ~/naoqi/naoqi-sdk/naoqi --verbose --broker-ip 127.0.0.1. then I run roslaunch naoqi_driver naoqi_driver.launch nao_ip:=127.0.0.1, I got this error:
Receiving information about robot model
terminate called after throwing an instance of 'qi::FutureUserException'
 what():  	ALMemory::getData
  Data not found RobotConfig/Body/Type

Nao fingers are shaking

Hi,

I have an issue with the fingers of the simulated nao. Right after starting the simulation they are moving around like this:

The console log does not seems to tell much, except maybe the last line:

$ roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch
... logging to /home/nowis/.ros/log/7c7e8b88-03b1-11e5-b221-7824af37c8e6/roslaunch-navis-24007.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://navis:37674/

SUMMARY
========

PARAMETERS
 * /nao_dcm/Head_controller/joints: ['HeadYaw', 'Head...
 * /nao_dcm/Head_controller/type: position_controll...
 * /nao_dcm/LeftArm_controller/joints: ['LShoulderPitch'...
 * /nao_dcm/LeftArm_controller/type: position_controll...
 * /nao_dcm/LeftFoot_controller/joints: ['LAnklePitch', '...
 * /nao_dcm/LeftFoot_controller/type: position_controll...
 * /nao_dcm/LeftHand_controller/joints: ['LWristYaw', 'LH...
 * /nao_dcm/LeftHand_controller/type: position_controll...
 * /nao_dcm/LeftLeg_controller/joints: ['LHipRoll', 'LHi...
 * /nao_dcm/LeftLeg_controller/type: position_controll...
 * /nao_dcm/Pelvis_controller/joints: ['LHipYawPitch']
 * /nao_dcm/Pelvis_controller/type: position_controll...
 * /nao_dcm/RightArm_controller/joints: ['RShoulderPitch'...
 * /nao_dcm/RightArm_controller/type: position_controll...
 * /nao_dcm/RightFoot_controller/joints: ['RAnklePitch', '...
 * /nao_dcm/RightFoot_controller/type: position_controll...
 * /nao_dcm/RightHand_controller/joints: ['RWristYaw', 'RH...
 * /nao_dcm/RightHand_controller/type: position_controll...
 * /nao_dcm/RightLeg_controller/joints: ['RHipRoll', 'RHi...
 * /nao_dcm/RightLeg_controller/type: position_controll...
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadPitch/d: 1.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadPitch/i: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadPitch/p: 1000.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadYaw/d: 1.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadYaw/i: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/HeadYaw/p: 1000.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnklePitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnklePitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnklePitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnkleRoll/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnkleRoll/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LAnkleRoll/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowRoll/d: 0.3
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowRoll/i: 0.7
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowRoll/p: 30.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowYaw/d: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowYaw/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LElbowYaw/p: 110.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHand/d: 3.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHand/i: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHand/p: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipPitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipPitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipPitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipRoll/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipRoll/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipRoll/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipYawPitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipYawPitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LHipYawPitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LKneePitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/LKneePitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LKneePitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderPitch/d: 2.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderPitch/i: 4.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderPitch/p: 80.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderRoll/d: 0.7
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderRoll/i: 5.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LShoulderRoll/p: 50.0
 * /nao_dcm/gazebo_ros_control/pid_gains/LWristYaw/d: 0.01
 * /nao_dcm/gazebo_ros_control/pid_gains/LWristYaw/i: 0.13
 * /nao_dcm/gazebo_ros_control/pid_gains/LWristYaw/p: 1.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnklePitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnklePitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnklePitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnkleRoll/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnkleRoll/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RAnkleRoll/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowRoll/d: 0.3
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowRoll/i: 0.7
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowRoll/p: 30.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowYaw/d: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowYaw/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RElbowYaw/p: 110.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHand/d: 3.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHand/i: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHand/p: 100.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipPitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipPitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipPitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipRoll/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipRoll/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipRoll/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipYawPitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipYawPitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RHipYawPitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RKneePitch/d: 0.1
 * /nao_dcm/gazebo_ros_control/pid_gains/RKneePitch/i: 0.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RKneePitch/p: 500.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderPitch/d: 2.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderPitch/i: 4.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderPitch/p: 80.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderRoll/d: 0.7
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderRoll/i: 5.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RShoulderRoll/p: 50.0
 * /nao_dcm/gazebo_ros_control/pid_gains/RWristYaw/d: 0.01
 * /nao_dcm/gazebo_ros_control/pid_gains/RWristYaw/i: 0.13
 * /nao_dcm/gazebo_ros_control/pid_gains/RWristYaw/p: 1.0
 * /nao_dcm/joint_state_controller/publish_rate: 50
 * /nao_dcm/joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.13
 * /use_sim_time: True

NODES
  /nao_dcm/
    nao_trajectory_controller (controller_manager/spawner)
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_urdf (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [24021]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7c7e8b88-03b1-11e5-b221-7824af37c8e6
process[rosout-1]: started with pid [24037]
started core service [/rosout]
process[gazebo-2]: started with pid [24061]
process[gazebo_gui-3]: started with pid [24067]
process[nao_dcm/nao_trajectory_controller-4]: started with pid [24076]
Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Gazebo multi-robot simulator, version 2.2.3
Copyright (C) 2012-2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

process[robot_state_publisher-5]: started with pid [24078]
/opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher
Msg Waiting for master.process[spawn_urdf-6]: started with pid [24112]
[ INFO] [1432649655.064609908]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1432649655.065079019]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.71.76.90
[INFO] [WallTime: 1432649655.286779] [0.000000] Controller Spawner: Waiting for service controller_manager/load_controller

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 10.71.76.90
[ INFO] [1432649657.548173915]: Camera Plugin (robotNamespace = /nao_robot), Info: Using the 'robotNamespace' param: '/nao_robot'
[ WARN] [1432649657.548254458]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[ INFO] [1432649657.550688155]: Camera Plugin (robotNamespace = /nao_robot), Info: Using the 'robotNamespace' param: '/nao_robot'
[ WARN] [1432649657.550734788]: gazebo_ros_camera_ simulation does not support non-zero distortion parameters right now, your simulation maybe wrong.
[ INFO] [1432649657.634435732]: Camera Plugin (ns = /nao_robot)  <tf_prefix_>, set to "/nao_robot"
[ INFO] [1432649657.669186677]: Camera Plugin (ns = /nao_robot)  <tf_prefix_>, set to "/nao_robot"
[spawn_urdf-6] process has finished cleanly
log file: /home/nowis/.ros/log/7c7e8b88-03b1-11e5-b221-7824af37c8e6/spawn_urdf-6*.log
[ INFO] [1432649658.383592472]: Loading gazebo_ros_control plugin
[ INFO] [1432649658.383709860]: Starting gazebo_ros_control plugin in namespace: /nao_dcm
[ INFO] [1432649658.384289363]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ INFO] [1432649658.930796083]: Loaded gazebo_ros_control.
[INFO] [WallTime: 1432649659.202643] [0.000000] Controller Spawner: Waiting for service controller_manager/switch_controller
[INFO] [WallTime: 1432649659.203638] [0.000000] Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [WallTime: 1432649659.204499] [0.000000] Loading controller: /nao_dcm/Head_controller
[INFO] [WallTime: 1432649659.279416] [0.000000] Loading controller: /nao_dcm/RightArm_controller
[INFO] [WallTime: 1432649659.301910] [0.000000] Loading controller: /nao_dcm/LeftArm_controller
[INFO] [WallTime: 1432649659.324004] [0.000000] Loading controller: /nao_dcm/LeftLeg_controller
[INFO] [WallTime: 1432649659.345861] [0.000000] Loading controller: /nao_dcm/RightLeg_controller
[INFO] [WallTime: 1432649659.366919] [0.000000] Loading controller: /nao_dcm/RightHand_controller
[INFO] [WallTime: 1432649659.387434] [0.000000] Loading controller: /nao_dcm/LeftHand_controller
[INFO] [WallTime: 1432649659.407253] [0.000000] Loading controller: /nao_dcm/Pelvis_controller
[INFO] [WallTime: 1432649659.427668] [0.000000] Loading controller: /nao_dcm/LeftFoot_controller
[INFO] [WallTime: 1432649659.447386] [0.000000] Loading controller: /nao_dcm/RightFoot_controller
[INFO] [WallTime: 1432649659.467529] [0.000000] Loading controller: /nao_dcm/joint_state_controller
[INFO] [WallTime: 1432649659.515790] [0.000000] Controller Spawner: Loaded controllers: /nao_dcm/Head_controller, /nao_dcm/RightArm_controller, /nao_dcm/LeftArm_controller, /nao_dcm/LeftLeg_controller, /nao_dcm/RightLeg_controller, /nao_dcm/RightHand_controller, /nao_dcm/LeftHand_controller, /nao_dcm/Pelvis_controller, /nao_dcm/LeftFoot_controller, /nao_dcm/RightFoot_controller, /nao_dcm/joint_state_controller
[INFO] [WallTime: 1432649887.875748] [89.406000] Started controllers: /nao_dcm/Head_controller, /nao_dcm/RightArm_controller, /nao_dcm/LeftArm_controller, /nao_dcm/LeftLeg_controller, /nao_dcm/RightLeg_controller, /nao_dcm/RightHand_controller, /nao_dcm/LeftHand_controller, /nao_dcm/Pelvis_controller, /nao_dcm/LeftFoot_controller, /nao_dcm/RightFoot_controller, /nao_dcm/joint_state_controller
[ INFO] [1432649887.894981690, 89.425000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1432649887.915730192, 89.446000000]: Physics dynamic reconfigure ready.
Warning [Publisher.cc:134] Queue limit reached for topic /gazebo/default/pose/local/info, deleting message. This warning is printed only once.

Launched on a chrooted ubuntu 12.04, with latest ros-indigo packages.

Nao is moving and I don't know why

I installed this package and all of its plugins and dependecies just as it say nao_gazebo_plugin/README.rst. I have ros indigo on ubuntu 14.04 and gazebo 2.2.3. I have installed ros_control and ros_controllers. I think I have everything installed well but when I execute both nao_gazebo.launch and nao_gazebo_plugin_H25.launch the robot start to move, without having executed anything else. Also, I post on any topic but the robot does not respond.

The following video shows this movement
https://drive.google.com/file/d/13g5vsf1DJ2AjcVr1q3CT2HcLpEuLwY8Q/view?usp=sharing

Kinetic release

could we release it for Jade and Kinetic?

Tutorials for control of NAO robot?

Hi dear developers :)
I'm new user of ROS...

Is there any tutorial for simulating of NAO in gazebo and control of that using nao_virtual package?
I make this package successfully, but I don't know how to use this?

Regards :)

Missing dependency

The following package needs to be included under dependencies, without which it fails at cmake stage,

humanoid_nav_msgs (git clone [email protected]:ahornung/humanoid_msgs.git)

NAO robot falls down completely after pressing the start button in Gazebo

Hi,

I tried to do simulate NAO in ROS Jade with Gazebo 5, however, every time I run Gazebo and play start button, the NAO robot falls down. Exactly similar to the problem in this clip https://drive.google.com/file/d/0B4bNDF3keBFibXpnRkt0V3JDNzA/view.

Could you help me to fix this issue?

Thanks

Robot's camera don't see robot parts

The RGB cameras give a good rendering of the surrounding environment. But the robots parts seem to be invisible. When a robot part is in the field of view of the camera, it doesn't appear on the output image.
(cf. attached screenshot)

Rqt can't subscribe and publish controller topics.

I tried to control nao with the joint_trajectory_controller of rqt.
However, rqt can't subscribe and publish controller topics of nao_gazebo_plugin_H25.launch.
In version 0.0.5, the launch file fails to load controllers.
In version 0.0.4, the controllers' names are not suitable for rqt.
Rqt expects namespace = /path/to/controller/manager, controller_name = foo", if the published controller is "/path/to/foo
However nao_gazebo_plugin outputs namespcae = /nao_dcm, controller_name = /nao_dcm/hoge_controller

Move nao_moveit_config to an independent repository

As discussed on the 18/08/2014, the MoveIt config does not really belong to nao_virtual (since it is definitely useful in other contexts as well).

I suggest to update ros-aldebaran/nao_moveit_config with the lastest version found in nao_virtual, and transfer ownership to ros-nao. Any opinions?

Nao_gazebo_plugin_H25.launch doesn't run correctly.

Hi.
I can't launch nao_gazebo_plugin_H25.launch correctly.
It displays nao and the field, but it can't load required controllers and this error is output.

[WARN] [WallTime: 1447018352.432452] [0.000000] Controller Spawner couldn't find the expected controller_manager ROS interface.

In addition, it doesn't publish /tf.
However, when I checkout version 0.0.4, it runs correctly.

Meshes not found

This is probably a temporary problem while you are updating stuff but trying to checkout all the last packages and launching a simulated nao (football field one or simple empty world):

roslaunch nao_gazebo_plugin nao_gazebo.launch

Gives:

Error [SystemPaths.cc:367] File or path does not exist["/home/sam/nao_ws/src/nao_meshes/nao_meshes/meshes/V40/Torso.dae"]
Error [Visual.cc:2133] No mesh specified
Error [SystemPaths.cc:367] File or path does not exist["/home/sam/nao_ws/src/nao_meshes/nao_meshes/meshes/V40/Torso_0.10.stl"]
Error [Visual.cc:2133] No mesh specified
Error [SystemPaths.cc:367] File or path does not exist["/home/sam/nao_ws/src/nao_meshes/nao_meshes/meshes/V40/HeadYaw.dae"]
Error [Visual.cc:2133] No mesh specified
Error [SystemPaths.cc:367] File or path does not exist["/home/sam/nao_ws/src/nao_meshes/nao_meshes/meshes/V40/HeadPitch.dae"]
Error [Visual.cc:2133] No mesh specified
Error [SystemPaths.cc:367] File or path does not exist["/home/sam/nao_ws/src/nao_meshes/nao_meshes/meshes/V40/HeadYaw_0.10.stl"]
...
Etc

I see that nao_meshes (nao_meshes/nao_meshes/meshes/V40) contains now collision and visual. And that path has not been updated in the generated URDF. As a temporal workaround I just copied everything from the visual and collision folder to one folder up (the V40 folder). But there are still meshes missing and it's trying to go back in the path wrongly:

Error [Material.cc:93] Unable to find texture[../../../texture/textureNAO.png] in path[/home/sam/nao_ws/src/nao_meshes/nao_meshes/meshes/V40]

(should be ../../texture/textureNAO.png)

And after this, well, the robot falls into the ground infinitely. But that's another problem (related to not finding collision meshes maybe?).

Also a last extra, the contents of my current rosinstall:

git: {local-name: nao_dcm_robot, uri: 'https://github.com/ros-aldebaran/nao_dcm_robot'}
git: {local-name: nao_extras, uri: 'https://github.com/ros-naoqi/nao_extras'}
git: {local-name: nao_moveit_config, uri: 'https://github.com/ros-naoqi/nao_moveit_config'}
git: {local-name: nao_robot, uri: 'https://github.com/ros-naoqi/nao_robot'}
git: {local-name: nao_virtual, uri: 'https://github.com/ros-naoqi/nao_virtual'}
git: {local-name: nao_viz, uri: 'https://github.com/ros-naoqi/nao_viz'}
git: {local-name: naoqi_bridge, uri: 'https://github.com/ros-naoqi/naoqi_bridge'}
git: {local-name: pal_gazebo_plugins, uri: 'https://github.com/pal-robotics/pal_gazebo_plugins'}
git: {local-name: pal_msgs, uri: 'https://github.com/pal-robotics/pal_msgs'}
git: {local-name: roboticsgroup_gazebo_plugins, uri: 'https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins'}

Error execution in planned path using moveit

Using moveit with gazebo I get an error when I execute the planned path. I solved the error doing the following:

In nao_gazebo_plugin_H25.launch line 19 :

Before


<include file="$(find nao_control)/launch/nao_control_position.launch"/>

After

<include file="$(find nao_control)/launch/nao_control_trajectory.launch"/>


[Request] compile it for noetic

Hello,
Is it possible to get assistance for compiling it using noetic? Thanks

ImportError: No module named rospkg

I installed the simulation environment of Nao Players in RobCup [ https://github.com/ros-naoqi/nao_virtual ] Everything is okay but cannot find Rospkg. I reinstalled with many methods but still not work. In fact, the pkg is there exactly and if I import rospkg in python client, the error occurs. I wonder if there is some problem about Python. Hope someone can help me. Thank you very much

Traceback (most recent call last): File "/opt/ros/indigo/share/xacro/xacro.py", line 60, in import xacro File "/opt/ros/indigo/lib/python2.7/dist-packages/xacro/init.py", line 45, in from roslaunch import substitution_args File "/opt/ros/indigo/lib/python2.7/dist-packages/roslaunch/init.py", line 48, in import rospkg

ImportError: No module named rospkg

while processing /opt/ros/indigo/share/nao_description/launch/upload_nao.launch: Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/indigo/share/xacro/xacro.py /opt/ros/indigo/share/nao_description/urdf/naoV40_generated_urdf/nao_robot.xacro] returned with code [1].

unused dependencies

@mikaelarguedas do you still need these dependencies: roboticsgroup_gazebo_plugins, pal_msgs, and pal_gazebo_plugins? I've just tested Romeo without them and it works well.

Unable to continue installation after first catkin_make

Specs: Ubuntu 14.04 (Trusty) / ROS Indigo

After the first catkin_make I had missing packages, namely, humanoid-nav-msg and ddynamic_reconfigure. Regarding, ddynamic_reconfigure a package exists for deb named ros-indigo-ddynamic-reconfigure-python - installing this package did not remove the error message after catkin_make, which will still complain that the ddynamic pkg is not found. After renaming the package.xml in ddynamic_reconfigure_python to match what the build was looking for, some progress (?) was made...

Next, the build returned the following error

CMake Error at roboticsgroup_gazebo_plugins/CMakeLists.txt:5 (cmake_policy):
Policy "CMP0054" is not known to this version of CMake.

Bypassing this policy the build spits out another error, namely:

[  0%] Building CXX object pal_gazebo_plugins/CMakeFiles/gazebo_harness.dir/src/gazebo_harness.cpp.o
/home/osboxes/catkin_ws/src/pal_gazebo_plugins/src/gazebo_attachment.cpp:9:28: fatal error: ignition/math.hh: No such file or directory
 #include <ignition/math.hh>

Through a naive, brute force, approach, I installed a few libignition-math packages through apt which gave rise to the largest error output of all, of which a snippet is displayed here for your enjoyment:

[  0%] Building CXX object pal_gazebo_plugins/CMakeFiles/gazebo_attachment.dir/src/gazebo_attachment.cpp.o
[  0%] Built target _pal_navigation_msgs_generate_messages_check_deps_TabletPOI
[  0%] Building CXX object pal_gazebo_plugins/CMakeFiles/gazebo_harness.dir/src/gazebo_harness.cpp.o
In file included from /home/osboxes/catkin_ws/src/pal_gazebo_plugins/src/gazebo_attachment.cpp:8:0:
/home/osboxes/catkin_ws/src/pal_gazebo_plugins/include/pal_gazebo_plugins/gazebo_attachment.h:49:3: error: ‘ignition’ does not name a type
   ignition::math::Pose3d pose_;
   ^
/home/osboxes/catkin_ws/src/pal_gazebo_plugins/src/gazebo_attachment.cpp: In member function ‘virtual void gazebo::GazeboAttachment::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/osboxes/catkin_ws/src/pal_gazebo_plugins/src/gazebo_attachment.cpp:52:11: error: ‘class gazebo::GazeboAttachment’ has no member named ‘pose_’
     this->pose_ = _sdf->Get<ignition::math::Pose3d>("pose");
           ^

I've been at this for a full day... Does anybody have any ideas as to what's going on? Am I missing a step?

Connection Refused. QiMessaging Error

Hey devs, sorry for this noob question, but when I was following the tutorial, I got stuck at the testing part:

When I run
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=127.0.0.1 (virtual robot on Choregraph)
I get this error:

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.7

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 [13854]
[W] 1494699559.026087 13858 qimessaging.transportsocket: connect: Connection refused
terminate called after throwing an instance of 'qi::FutureUserException'
  what():  System error: Connection refused
================================================================================REQUIRED process [naoqi_driver-1] has died!

How do I fix this ?

How to integrate nao_full_py with moveit_planner without nao_gazebo_plugin?

I am using nao_full_py.launch to controll my NAO robot. I want to use moveit to controll NAO through naoqi, and i am wondering how i can load nao_trajectory_controller without nao_gazebo_plugin? Can you offer some advices? Thank you!

NAO fingers keep spinning

I am trying to use NAO with ROS and Gazebo, but I have a problem with NAO's fingers, where they keep spinning non-stop, what makes the robot shake. This is happening using Ubuntu 20.04 and ROS Noetic.

I've tried some of the solutions here, but to no avail. #9

I also tried using Ubuntu 14.04 and ROS Indigo, but with no success, the problem persists.

nao is melodic not supported???

I can't find a nao for melodic version...

but, I really need that.

Have you ever had or used a nao melodic version?

please help me...

Installation steps in nao_gazebo_plugin/README.rst are in the wrong order

If a user is doing a fresh installation, they should install ros-indigo-nao-gazebo-plugin before doing the catkin_make. As it is now, the catkin_make results in the error:

Could not find a package configuration file provided by "control_toolbox"   with any of the following names:     control_toolboxConfig.cmake     control_toolbox-config.cmake

ros-naoqi / nao_virtual Goto Github PK

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