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[pepper] pepper_full.launchが上がらない #842

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kochigami opened this issue Sep 28, 2017 · 12 comments
Closed

[pepper] pepper_full.launchが上がらない #842

kochigami opened this issue Sep 28, 2017 · 12 comments
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naoqi

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@kochigami
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kochigami commented Sep 28, 2017 •
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Cc: @shoheiishikura
エラーを書いてね
@shoheiishikura
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以下がroslaunch pepper_bringup pepper_full.launchを実行したときのエラーです．
ーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーー
leus@leus-ThinkPad-T450:~$ roslaunch pepper_bringup pepper_full.launch nao_ip:=133.11.216.155 network_interface:=wlan0
... logging to /home/leus/.ros/log/7d8ca0f8-a406-11e7-ad00-1002b53754f6/roslaunch-leus-ThinkPad-T450-28800.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://133.11.216.180 :40632/

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: /home/leus/ros/in...
  • /rosdistro: indigo
  • /rosversion: 1.11.21

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_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[pepper_robot-1]: started with pid [28818]
process[pepper_robot/pose/pose_controller-2]: started with pid [28819]
process[pepper_robot/pose/pose_manager-3]: started with pid [28820]
Receiving information about robot model
process[pepper_robot/camera/camera_nodelet_manager-4]: started with pid [28833]
process[pepper_robot/camera/front_rectify_color-5]: started with pid [28834]
process[pepper_robot/camera/bottom_rectify_color-6]: started with pid [28837]
process[pepper_robot/camera/ir_rectify_ir-7]: started with pid [28858]
[W] 28818 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s
process[pepper_robot/camera/depth_rectify_depth-8]: started with pid [28882]
process[pepper_robot/camera/depth_metric_rect-9]: started with pid [28896]
process[pepper_robot/camera/depth_metric-10]: started with pid [28902]
process[pepper_robot/camera/register_depth_front-11]: started with pid [28911]
process[pepper_robot/camera/points_xyzrgb_sw_registered-12]: started with pid [28945]
process[pepper_robot/camera/depth_registered_sw_metric_rect-13]: started with pid [28959]
process[pepper_robot/camera/depth_registered_rectify_depth-14]: started with pid [28979]
process[pepper_robot/camera/points_xyzrgb_hw_registered-15]: started with pid [28989]
process[pepper_robot/camera/depth_registered_hw_metric_rect-16]: started with pid [29002]
process[pepper_robot/camera/depth_registered_metric-17]: started with pid [29019]
[INFO] [WallTime: 1506598103.668014] [0.000000] Connecting to NaoQi at 133.11.216.155:9559
[I] 28819 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[W] 29147 qi.path.sdklayout: No Application was created, trying to deduce paths
[I] 28819 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:36301
[I] 28819 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.180:36301
[ INFO] [1506598103.673630559]: Initializing nodelet with 4 worker threads.
[W] 28818 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to [[m]]
set prefix successfully to pepper_robot
[I] 28818 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 28818 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:44967
[I] 28818 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.180:44967
using ip address: 127.0.0.1 @ wlan0
found a catkin prefix /home/leus/ros/indigo-pepper/src/naoqi_driver/share/boot_config.json
load boot config from /home/leus/ros/indigo-pepper/src/naoqi_driver/share/boot_config.json
[WARN] [WallTime: 1506598104.282237] [0.000000] Collection LLeg not found on your robot.
[WARN] [WallTime: 1506598104.290207] [0.000000] Collection RLeg not found on your robot.
[INFO] [WallTime: 1506598104.394888] [0.000000] nao_controller initialized
[INFO] [WallTime: 1506598104.395174] [0.000000] nao pose_controller running...
no camera information found for camera_source 3 and res: 1
found a catkin URDF /home/leus/ros/indigo-pepper/src/naoqi_driver/share/urdf/pepper.urdf
Audio Extractor: Start
RightBumperPressed
LeftBumperPressed
BackBumperPressed
ROS-Driver-RightBumperPressed : Start
HandRightBackTouched
HandRightLeftTouched
HandRightRightTouched
HandLeftBackTouched
HandLeftLeftTouched
HandLeftRightTouched
ROS-Driver-HandRightBackTouched : Start
FrontTactilTouched
MiddleTactilTouched
RearTactilTouched
ROS-Driver-FrontTactilTouched : Start
registered subscriber: teleop
registered subscriber: moveto
registered subscriber: speech
nodehandle reset
using master ip: http://127.0.0.1:11311
NOT going to re-register the converters
camera/bottom/image_raw is resetting
camera/bottom/image_raw reset
camera/depth/image_raw is resetting
camera/depth/image_raw reset
/diagnostics is resetting
/diagnostics reset
camera/front/image_raw is resetting
camera/front/image_raw reset
imu/base is resetting
imu/base reset
imu/torso is resetting
imu/torso reset
info is resetting
load robot description from file
info reset
camera/ir/image_raw is resetting
camera/ir/image_raw reset
/joint_states is resetting
/joint_states reset
laser is resetting
laser reset
odom is resetting
odom reset
sonar is resetting
sonar reset
resetting subscriber teleop
teleop is resetting
teleop reset
resetting subscriber moveto
moveto is resetting
moveto reset
resetting subscriber speech
speech is resetting
speech reset
resetting service robot config service
robot config service is resetting
[WARN] [WallTime: 1506598106.504870] [0.000000] 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.
^[[A^[[A^[[A^C[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/depth_registered_rectify_depth-14] killing on exit
[pepper_robot/camera/points_xyzrgb_hw_registered-15] 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_metric_rect-9] killing on exit
[pepper_robot/camera/depth_rectify_depth-8] 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
[pepper_robot-1] killing on exit
[INFO] [WallTime: 1506598170.882129] [0.000000] Stopping pose_controller
[INFO] [WallTime: 1506598170.882274] [0.000000] pose_controller stopped
[I] 29546 qi.Application: Sending the stop command...
[INFO] [WallTime: 1506598171.013674] [0.000000] nao pose_controller stopped.
^C^C^C^C^C^C^C^C^C^C^C^C^C^C^[[A[pepper_robot-1] escalating to SIGTERM
[I] 29546 qi.Application: Sending the stop command...
[pepper_robot-1] escalating to SIGKILL
Shutdown errors:

  • process[pepper_robot-1, pid 28818]: required SIGKILL. May still be running.
    shutting down processing monitor...
    ... shutting down processing monitor complete
    done

@kochigami
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kochigami commented Sep 28, 2017 •
edited
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using ip address: 127.0.0.1 @ wlan0 　が怪しくて、値が変わるべきと思います。

メモ：

  • １．pepper_robot, naoqi_driverをソースコードで入れる
    自分用メモ：naoqi_driverのリリースはどのプルリクまで入っている？

  • ２．pepper_robot のファイルの一部をこれの変更を見て（今のところは）書き換える
    Fix namespace to avoid duplication and node name empty #35 ros-naoqi/pepper_robot#40
    （まだマージされていないため）

  • ROS-Driver のエラーが出て困っていて、ロボット再起動で直った

  • ペッパーのネットワークと手元パソコンのネットワークが違うと駄目ですよ

  • 2.5.5のpynaoqiを使うとpythonpathのエラーが出るんだけど、私は問題なくjsk_pepper_startup.launchが上がった、トピックも出ている

  • naoqiの2.4.3と2.5.5で構成がちょっと違うようだ。 2.5.5 だと /pynaoqi/lib までが今までの /pynaoqiと一緒
    これ多分ちょっと違う

％もし、pepper_full.launch を立ち上げた時に、
大量のログが出て、パソコンの熱などで問題になったら、
一様これを変えると消える
https://github.com/ros-naoqi/naoqi_driver/pull/88/files

@kochigami
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引数 roscore_ip に手元のパソコンのipを入れてあげると値が入る

  • jsk_pepper_startup.launchだと、$ROS_IPの値を取ってきて勝手に入れてくれる

@shoheiishikura
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shoheiishikura commented Sep 28, 2017 •
edited
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pepper_full.launchの6行目を書き換えました．
https://github.com/ros-naoqi/pepper_robot/blob/master/pepper_bringup/launch/pepper_full.launch

メッセージを見ると，
using ip address: 133.11.216.180 @ wlan0
と変わりましたが，
Failed to contact master at [133.11.216.180:11311]. Retrying...
と言われました．
ーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーー

leus@leus-ThinkPad-T450:~/ros/indigo-pepper/src/pepper_robot/pepper_bringup/laun
ch$ roslaunch pepper_bringup pepper_full.launch nao_ip:=133.11.216.155  network_interface:=wlan0 roscore_ip:=133.11.216.180
... logging to /home/leus/.ros/log/91d79ff2-a444-11e7-86cd-1002b53754f6/roslaunch-leus-ThinkPad-T450-7544.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://133.11.216.180 :37481/

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: /home/leus/ros/in...
 * /rosdistro: indigo
 * /rosversion: 1.11.21

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_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[pepper_robot-1]: started with pid [7562]
process[pepper_robot/pose/pose_controller-2]: started with pid [7563]
process[pepper_robot/pose/pose_manager-3]: started with pid [7564]
process[pepper_robot/camera/camera_nodelet_manager-4]: started with pid [7577]
process[pepper_robot/camera/front_rectify_color-5]: started with pid [7578]
process[pepper_robot/camera/bottom_rectify_color-6]: started with pid [7584]
process[pepper_robot/camera/ir_rectify_ir-7]: started with pid [7606]
process[pepper_robot/camera/depth_rectify_depth-8]: started with pid [7610]
process[pepper_robot/camera/depth_metric_rect-9]: started with pid [7625]
process[pepper_robot/camera/depth_metric-10]: started with pid [7640]
process[pepper_robot/camera/register_depth_front-11]: started with pid [7661]
process[pepper_robot/camera/points_xyzrgb_sw_registered-12]: started with pid [7675]
process[pepper_robot/camera/depth_registered_sw_metric_rect-13]: started with pid [7686]
process[pepper_robot/camera/depth_registered_rectify_depth-14]: started with pid [7703]
process[pepper_robot/camera/points_xyzrgb_hw_registered-15]: started with pid [7728]
process[pepper_robot/camera/depth_registered_hw_metric_rect-16]: started with pid [7739]
[ INFO] [1506600013.014028492]: Initializing nodelet with 4 worker threads.
process[pepper_robot/camera/depth_registered_metric-17]: started with pid [7761]
[INFO] [WallTime: 1506600013.117751] Connecting to NaoQi at 133.11.216.155:9559
[I] 7563 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[W] 7874 qi.path.sdklayout: No Application was created, trying to deduce paths
[I] 7563 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:36519
[I] 7563 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.180:36519
Receiving information about robot model
[FATAL] [WallTime: 1506600016.107697] Could not connect to required "joint_trajectory" action server, is the nao_controller node running?
[W] 7562 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s
[pepper_robot/pose/pose_manager-3] process has finished cleanly
log file: /home/leus/.ros/log/91d79ff2-a444-11e7-86cd-1002b53754f6/pepper_robot-pose-pose_manager-3*.log
[W] 7562 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to [[m]]
set prefix successfully to pepper_robot
[I] 7562 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 7562 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:33247
[I] 7562 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.180:33247
using ip address: 133.11.216.180 @ wlan0
found a catkin prefix /home/leus/ros/indigo-pepper/src/naoqi_driver/share/boot_config.json
load boot config from /home/leus/ros/indigo-pepper/src/naoqi_driver/share/boot_config.json
[WARN] [WallTime: 1506600023.124665] Collection LLeg not found on your robot.
[WARN] [WallTime: 1506600023.303639] Collection RLeg not found on your robot.
no camera information found for camera_source 3 and res: 1
[INFO] [WallTime: 1506600024.417851] nao_controller initialized
[INFO] [WallTime: 1506600024.418146] nao pose_controller running...
found a catkin URDF /home/leus/ros/indigo-pepper/src/naoqi_driver/share/urdf/pepper.urdf
Audio Extractor: Start
RightBumperPressed
LeftBumperPressed
BackBumperPressed
ROS-Driver-RightBumperPressed : Start
HandRightBackTouched
HandRightLeftTouched
HandRightRightTouched
HandLeftBackTouched
HandLeftLeftTouched
HandLeftRightTouched
ROS-Driver-HandRightBackTouched : Start
FrontTactilTouched
MiddleTactilTouched
RearTactilTouched
ROS-Driver-FrontTactilTouched : Start
registered subscriber:	teleop
registered subscriber:	moveto
registered subscriber:	speech
nodehandle reset 
[ERROR] [1506600035.570258536]: [registerPublisher] Failed to contact master at [133.11.216.180:11311].  Retrying...
^C[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_metric_rect-9] killing on exit
[pepper_robot/camera/depth_rectify_depth-8] killing on exit
^C[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_controller-2] killing on exit
[INFO] [WallTime: 1506600040.058005] Stopping pose_controller
[INFO] [WallTime: 1506600040.058275] pose_controller stopped
[pepper_robot-1] killing on exit
[INFO] [WallTime: 1506600040.714418] nao pose_controller stopped.
shutting down processing monitor...
... shutting down processing monitor complete
done

@kochigami
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kochigami commented Sep 28, 2017 •
edited
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ログありがとう！役に立つか分からないけれど・・・

  1. ubuntu 14.04 ros indigoで
    pynaoqi のバージョンは2.5.5でしょうか。もしそうだったら、これは何か別の問題を持っていそう？（問題なさそうだけど、別のエラーメッセージを出すようだ）なので、一旦2.4.3にしてもらっていいでしょうか。

  2. naoqi_driver.launchと pepper_full.launchのroscore_ipのファイル上の引数の変更を元に戻して、
    のroslaunch pepper_bringup pepper_full.launch network_interface:=wlan0 roscore_ip:=<ifconfig のwlan0のip>　してみたらどうなるでしょうか。
    また、同じエラーが出たら、実行している端末でifconfig => wlan0の値を確認したらどうなるでしょうか。echo $ROS_IP はどうなるでしょうか。

  3. 今までの変更は一旦リセットして、

１．pepper_robot, naoqi_driverをソースコードで入れる
２．pepper_robot のファイルの一部をこれの変更を見て（今のところは）書き換える
ros-naoqi/pepper_robot#40

をもう一回やってもらって、roslaunch jsk_pepper_startup jsk_pepper_startup.launch network_interface:=wlan0 したらどうなるでしょうか。

３．2つのパッケージのビルドをし直すのはどうでしょうか。

@kochigami
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メモ：
nao_ipは設定しないといけないが、そうしないといけないことが分かりやすくなっていないかも
http://ros-naoqi.github.io/naoqi_driver/start.html#before-starting-the-module
にあるけど

@shoheiishikura
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shoheiishikura commented Sep 29, 2017 •
edited
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@kochigami さん

まず1番を試した結果になります．
（.bashrcにexport NAO_IP=133.11.216.***の設定を書いています．）

今までのものと同じエラーかと思います．

お願いします．
ーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーー

leus@leus-ThinkPad-T450:~/ros/indigo-pepper/src/pepper_robot/pepper_bringup/laun
ch$ roslaunch pepper_bringup pepper_full.launch network_interface:=wlan0 roscore_ip:=133.11.216.180
... logging to /home/leus/.ros/log/91d79ff2-a444-11e7-86cd-1002b53754f6/roslaunch-leus-ThinkPad-T450-10859.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://133.11.216.180 :43923/

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: /home/leus/ros/in...
 * /rosdistro: indigo
 * /rosversion: 1.11.21

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_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[pepper_robot-1]: started with pid [10877]
process[pepper_robot/pose/pose_controller-2]: started with pid [10878]
process[pepper_robot/pose/pose_manager-3]: started with pid [10879]
Receiving information about robot model
process[pepper_robot/camera/camera_nodelet_manager-4]: started with pid [10894]
process[pepper_robot/camera/front_rectify_color-5]: started with pid [10895]
process[pepper_robot/camera/bottom_rectify_color-6]: started with pid [10896]
process[pepper_robot/camera/ir_rectify_ir-7]: started with pid [10905]
[W] 10877 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s
process[pepper_robot/camera/depth_rectify_depth-8]: started with pid [10928]
process[pepper_robot/camera/depth_metric_rect-9]: started with pid [10941]
process[pepper_robot/camera/depth_metric-10]: started with pid [10967]
process[pepper_robot/camera/register_depth_front-11]: started with pid [10978]
process[pepper_robot/camera/points_xyzrgb_sw_registered-12]: started with pid [10996]
process[pepper_robot/camera/depth_registered_sw_metric_rect-13]: started with pid [11002]
process[pepper_robot/camera/depth_registered_rectify_depth-14]: started with pid [11023]
process[pepper_robot/camera/points_xyzrgb_hw_registered-15]: started with pid [11034]
process[pepper_robot/camera/depth_registered_hw_metric_rect-16]: started with pid [11050]
process[pepper_robot/camera/depth_registered_metric-17]: started with pid [11084]
[INFO] [WallTime: 1506661563.282273] [0.000000] Connecting to NaoQi at 133.11.216.155:9559
[I] 10878 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 10878 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:38618
[W] 11107 qi.path.sdklayout: No Application was created, trying to deduce paths
[I] 10878 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.180:38618
[W] 10877 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to [[m]]
set prefix successfully to pepper_robot
[I] 10877 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 10877 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:38833
[I] 10877 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.180:38833
[ INFO] [1506661563.327979601]: Initializing nodelet with 4 worker threads.
using ip address: 133.11.216.180 @ wlan0
found a catkin prefix /home/leus/ros/indigo-pepper/src/naoqi_driver/share/boot_config.json
load boot config from /home/leus/ros/indigo-pepper/src/naoqi_driver/share/boot_config.json
[WARN] [WallTime: 1506661564.164784] [0.000000] Collection LLeg not found on your robot.
[WARN] [WallTime: 1506661564.187462] [0.000000] Collection RLeg not found on your robot.
no camera information found for camera_source 3 and res: 1
[INFO] [WallTime: 1506661564.301917] [0.000000] nao_controller initialized
[INFO] [WallTime: 1506661564.302368] [0.000000] nao pose_controller running...
found a catkin URDF /home/leus/ros/indigo-pepper/src/naoqi_driver/share/urdf/pepper.urdf
Audio Extractor: Start
RightBumperPressed
LeftBumperPressed
BackBumperPressed
ROS-Driver-RightBumperPressed : Start
HandRightBackTouched
HandRightLeftTouched
HandRightRightTouched
HandLeftBackTouched
HandLeftLeftTouched
HandLeftRightTouched
ROS-Driver-HandRightBackTouched : Start
FrontTactilTouched
MiddleTactilTouched
RearTactilTouched
ROS-Driver-FrontTactilTouched : Start
registered subscriber:	teleop
registered subscriber:	moveto
registered subscriber:	speech
nodehandle reset 
[ERROR] [1506661565.960636838]: [registerPublisher] Failed to contact master at [133.11.216.180:11311].  Retrying...
[WARN] [WallTime: 1506661566.492584] [0.000000] 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.
^C[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/depth_metric_rect-9] killing on exit
[pepper_robot/camera/depth_rectify_depth-8] killing on exit
[pepper_robot/camera/depth_metric-10] 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/ir_rectify_ir-7] killing on exit
[pepper_robot/camera/front_rectify_color-5] killing on exit
[pepper_robot/camera/bottom_rectify_color-6] 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] [WallTime: 1506661579.692337] [0.000000] Stopping pose_controller
[INFO] [WallTime: 1506661579.692587] [0.000000] pose_controller stopped
[pepper_robot-1] killing on exit
[INFO] [WallTime: 1506661580.351091] [0.000000] nao pose_controller stopped.
shutting down processing monitor...
... shutting down processing monitor complete
done

leus@leus-ThinkPad-T450:~/ros/indigo-pepper/src/pepper_robot/pepper_bringup/laun
ch$ ifconfig
eth0      Link encap:Ethernet  HWaddr 50:7b:9d:a0:81:23  
          UP BROADCAST MULTICAST  MTU:1500  Metric:1
          RX packets:1930 errors:0 dropped:0 overruns:0 frame:0
          TX packets:224 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:162562 (162.5 KB)  TX bytes:36085 (36.0 KB)
          Interrupt:20 Memory:f2200000-f2220000 

lo        Link encap:Local Loopback  
          inet addr:127.0.0.1  Mask:255.0.0.0
          inet6 addr: ::1/128 Scope:Host
          UP LOOPBACK RUNNING  MTU:65536  Metric:1
          RX packets:65513255 errors:0 dropped:0 overruns:0 frame:0
          TX packets:65513255 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1 
          RX bytes:234059792530 (234.0 GB)  TX bytes:234059792530 (234.0 GB)

wlan0     Link encap:Ethernet  HWaddr 10:02:b5:37:54:f6  
          inet addr:133.11.216.180  Bcast:133.11.216.255  Mask:255.255.255.0
          inet6 addr: fe80::1202:b5ff:fe37:54f6/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:3638185 errors:0 dropped:4 overruns:0 frame:0
          TX packets:1419844 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000 
          RX bytes:4845226477 (4.8 GB)  TX bytes:160580579 (160.5 MB)

leus@leus-ThinkPad-T450:~/ros/indigo-pepper/src/pepper_robot/pepper_bringup/laun
ch$ echo $ROS_IP
133.11.216.180

@shoheiishikura
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一度再起動し，すべてのshellを落としたら，
[ERROR]Failed to contact master at [133.11.216.180:11311]. Retrying...
のエラーはでなくなりました．

@shoheiishikura
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roslaunch pepper_bringup pepper_full.launchを実行し/pepper_robot/camera/front/image_rawをrvizで確認しようとした所，imageが表示されませんでした．（以下がその時の状況です．）

このときrostopic echo /pepper_robot/camera/front/image_rawをしましたが，値は返されませんでした．
また/pepper_robot/camera/depth_registered/pointsも同様の状況です．
一方でrostopic echo /tfすると，値が返されました．

ーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーーー

leus@leus-ThinkPad-T450:~$ roslaunch pepper_bringup pepper_full.launch network_interface:=wlan0
... logging to /home/leus/.ros/log/c93332da-a4db-11e7-94b9-1002b53754f6/roslaunch-leus-ThinkPad-T450-32583.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://133.11.216.180 :44629/

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: /home/leus/ros/in...
 * /rosdistro: indigo
 * /rosversion: 1.11.21

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_node)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[pepper_robot-1]: started with pid [32601]
process[pepper_robot/pose/pose_controller-2]: started with pid [32602]
process[pepper_robot/pose/pose_manager-3]: started with pid [32603]
Receiving information about robot model
[W] 32601 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to s
process[pepper_robot/camera/camera_nodelet_manager-4]: started with pid [32618]
process[pepper_robot/camera/front_rectify_color-5]: started with pid [32619]
process[pepper_robot/camera/bottom_rectify_color-6]: started with pid [32620]
process[pepper_robot/camera/ir_rectify_ir-7]: started with pid [32633]
process[pepper_robot/camera/depth_rectify_depth-8]: started with pid [32645]
[W] 32601 qimessaging.remoteobject: Return signature might be incorrect depending on the value, from m to [[m]]
set prefix successfully to pepper_robot
[I] 32601 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 32601 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:39054
[I] 32601 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.180:39054
using ip address: 127.0.0.1 @ wlan0
process[pepper_robot/camera/depth_metric_rect-9]: started with pid [32663]
process[pepper_robot/camera/depth_metric-10]: started with pid [32681]
process[pepper_robot/camera/register_depth_front-11]: started with pid [32697]
process[pepper_robot/camera/points_xyzrgb_sw_registered-12]: started with pid [32725]
[INFO] [WallTime: 1506665621.505741] Connecting to NaoQi at 133.11.216.155:9559
found a catkin prefix /home/leus/ros/indigo-pepper/src/naoqi_driver/share/boot_config.json
load boot config from /home/leus/ros/indigo-pepper/src/naoqi_driver/share/boot_config.json
process[pepper_robot/camera/depth_registered_sw_metric_rect-13]: started with pid [32740]
[I] 32602 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 32602 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:33609
[I] 32602 qimessaging.transportserver: TransportServer will listen on: tcp://133.11.216.180:33609
[W] 32747 qi.path.sdklayout: No Application was created, trying to deduce paths
process[pepper_robot/camera/depth_registered_rectify_depth-14]: started with pid [32759]
process[pepper_robot/camera/points_xyzrgb_hw_registered-15]: started with pid [304]
process[pepper_robot/camera/depth_registered_hw_metric_rect-16]: started with pid [332]
process[pepper_robot/camera/depth_registered_metric-17]: started with pid [348]
[ INFO] [1506665621.574875832]: Initializing nodelet with 4 worker threads.
no camera information found for camera_source 3 and res: 1
[WARN] [WallTime: 1506665621.754076] Collection LLeg not found on your robot.
[WARN] [WallTime: 1506665621.759960] Collection RLeg not found on your robot.
found a catkin URDF /home/leus/ros/indigo-pepper/src/naoqi_driver/share/urdf/pepper.urdf
[INFO] [WallTime: 1506665621.882488] nao_controller initialized
[INFO] [WallTime: 1506665621.882769] nao pose_controller running...
Audio Extractor: Start
RightBumperPressed
LeftBumperPressed
BackBumperPressed
ROS-Driver-RightBumperPressed : Start
HandRightBackTouched
HandRightLeftTouched
HandRightRightTouched
HandLeftBackTouched
HandLeftLeftTouched
HandLeftRightTouched
ROS-Driver-HandRightBackTouched : Start
FrontTactilTouched
MiddleTactilTouched
RearTactilTouched
ROS-Driver-FrontTactilTouched : Start
registered subscriber:	teleop
registered subscriber:	moveto
registered subscriber:	speech
nodehandle reset 
using master ip: http://127.0.0.1:11311
NOT going to re-register the converters
camera/bottom/image_raw is resetting
camera/bottom/image_raw reset
camera/depth/image_raw is resetting
camera/depth/image_raw reset
/diagnostics is resetting
/diagnostics reset
camera/front/image_raw is resetting
[WARN] [WallTime: 1506665624.013675] 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.
camera/front/image_raw reset
imu/base is resetting
imu/base reset
imu/torso is resetting
imu/torso reset
info is resetting
load robot description from file
info reset
camera/ir/image_raw is resetting
camera/ir/image_raw reset
/joint_states is resetting
/joint_states reset
laser is resetting
laser reset
odom is resetting
odom reset
sonar is resetting
sonar reset
resetting subscriber teleop
teleop is resetting
teleop reset
resetting subscriber moveto
moveto is resetting
moveto reset
resetting subscriber speech
speech is resetting
speech reset
resetting service robot config service
robot config service is resetting
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
^C[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/register_depth_front-11] killing on exit
[pepper_robot/camera/depth_registered_rectify_depth-14] killing on exit
[pepper_robot/camera/points_xyzrgb_sw_registered-12] killing on exit
[pepper_robot/camera/depth_metric-10] killing on exit
[pepper_robot/camera/depth_registered_sw_metric_rect-13] killing on exit
[pepper_robot/camera/depth_rectify_depth-8] killing on exit
[pepper_robot/camera/depth_metric_rect-9] killing on exit
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
[pepper_robot/camera/ir_rectify_ir-7] killing on exit
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
[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
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
front_cameraCamera Handle is empty - cannot retrieve image
front_cameraMight be a NAOqi problem. Try to restart the ALVideoDevice.
[pepper_robot/pose/pose_manager-3] killing on exit
[pepper_robot/pose/pose_controller-2] killing on exit
[INFO] [WallTime: 1506665646.123537] Stopping pose_controller
[INFO] [WallTime: 1506665646.123786] pose_controller stopped
[pepper_robot-1] killing on exit
[I] 1726 qi.Application: Sending the stop command...
Audio Extractor: Stop
[INFO] [WallTime: 1506665646.255840] nao pose_controller stopped.
ROS-Driver-RightBumperPressed : Stop
ROS-Driver-HandRightBackTouched : Stop
ROS-Driver-FrontTactilTouched : Stop
naoqi driver is shutting down..
shutting down processing monitor...
... shutting down processing monitor complete
done

ちなみにtopic情報は以下の様に受けとることができました．

leus@leus-ThinkPad-T450:~$ rostopic info /pepper_robot/camera/front/image_raw
Type: sensor_msgs/Image

Publishers: 
 * /pepper_robot (http://133.11.216.180:33382/)

Subscribers: None

どのようにすれば，RGB画像や点群の情報を得られますでしょうか．
よろしくお願いします．

@k-okada
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k-okada commented Sep 29, 2017

pepperリブートかな．

@shoheiishikura
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@k-okada 先生， @kochigami さん

pepperをrebootしたところ，カメラ画像と点群のtopicを取得できました．

ちなみに，以下のFiles changedを行った状態でroslaunch pepper_bringup pepper_full.launchを実行しました．
https://github.com/ros-naoqi/pepper_robot/pull/40/files

ありがとうございました．

@kochigami
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@shoheiishikura くん
ログ等貼ってくれてありがとうございました。
READMEに反映していこうと思います。

メモ：
pynaoqi-python2.7-2.5.5.5-linux64のパスの通し方

export PYTHONPATH=$HOME/pynaoqi/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages:$PYTHONPATH

になると思う

理由：
naoqi_poseパッケージの中のプログラムで関係
naoqi_driver_py/src/naoqi_node.pyが
python SDKの中のnaoqi.pyを読み込みたくて、そこにパスを誘導してあげないといけないから

（%別件で、ros-naoqi/naoqi_driver#68
には2.5.5はkineticで使おうという意見がある）

@kochigami kochigami mentioned this issue Oct 11, 2017
Merged
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@k-okada @kochigami @shoheiishikura