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update jsk_naoqi_robot/README.md #73

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Aug 14, 2022
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update jsk_naoqi_robot/README.md #73

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d8e4767
update README.md
MiyabiTane Aug 12, 2022
469cfa7
fix README
MiyabiTane Aug 14, 2022
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46 changes: 46 additions & 0 deletions jsk_naoqi_robot/README.md
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Expand Up @@ -122,6 +122,29 @@ source devel/setup.bash

4. (optional) For NAO and Pepper developers

Please add following source codes which you need for debugging.
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この部分は

https://github.com/k-okada/jsk_robot/pull/73/files#diff-375a422594be02bff5f6011ade16d89082a28a0fa467e818956252c15d831a5aR89-R99

で，

wstool merge -t src https://github.com/k-okada/jsk_robot/blob/pepper_cross/jsk_naoqi_robot/naoqi.rosinstall

とすると，環境がセットされているとおもいます．なので，ここに書くとすると，例えば

cd ~/catkin_ws/src
wstool info

として以下の出力になっているか確認すること，みたいな情報かな？

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そうすると、3.の
wstool merge -t src https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_naoqi_robot/naoqi.rosinstall
の部分も
wstool merge -t src https://github.com/k-okada/jsk_robot/blob/pepper_cross/jsk_naoqi_robot/naoqi.rosinstall
に書き換えたほうが良いのでしょうか？？
https://github.com/k-okada/jsk_robot/pull/73/files#diff-375a422594be02bff5f6011ade16d89082a28a0fa467e818956252c15d831a5aL95

また、私の環境はmasterのREADMEでセットアップしたため、以下のようになっていて、少し異なっている気がして、4の項目ごとREADMEからなくすのが良いでしょうか...？？

$ wstool info
workspace: /home/leus/catkin_ws/src

 Localname         S  SCM Version (Spec)                                                    UID  (Spec)                 URI  (Spec) [http(s)://...]
 ---------         -  --- --------------                                                    -----------                 ---------------------------
 pepper_robot         git kochigami-develop < kochigami/kochigami-develop  (-)              b27611420a87                github.com/ros-naoqi/pepper_robot
 naoqi_driver      M  git kochigami-develop < kochigami/kochigami-develop  (-)              98c0b678286a                github.com/ros-naoqi/naoqi_driver
 naoqi_dashboard      git modify-for-kinetic < kochigami/kochigami-develop  (-)             33962f146c77                github.com/ros-naoqi/naoqi_dashboard
 naoqi_bridge_msgs    git kochigami-develop < kochigami/kochigami-develop  (-)              d7417613690e                github.com/ros-naoqi/naoqi_bridge_msgs
 naoqi_bridge         git kochigami-develop < kochigami/kochigami-develop  (-)              c28b727e1e9b                github.com/ros-naoqi/naoqi_bridge
 nao_robot            git support_hand < k-okada/support_hand  (-)                          d5dc0a024614                github.com/ros-naoqi/nao_robot
 nao_interaction      git master  (-)                                                       f97ad12f3896                github.com/ros-naoqi/nao_interaction
 jsk_robot         VC git update_naoqi_readme_pepper_cross < k-okada/pepper_cross  (master) d8e4767f767a (b40df2f1086b) github.com/jsk-ros-pkg/jsk_robot.git

あまり理解できていなくてすみません

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に書き換えたほうが良いのでしょうか？？

は，マージされたら，やっぱりもう一回書き換えることになるので，今のままでよいと思います。このPRがマージされたら，jsk-ros-pkg#1528 もマージしようと思います。

4の項目ごとREADMEからなくすのが良いでしょうか...？？

これはあったらよいので，一回 wstool merge -t src https://github.com/k-okada/jsk_robot/blob/pepper_cross/jsk_naoqi_robot/naoqi.rosinstall で環境を作って，その時の情報にしましょう。

mkdir -p /tmp/testws/src
cd /tmp/testws/
wstool merge -t src ......

として

 wstool info

とした結果をREADMEに書いておくので良いと思います。

workspace: /tmp/testws/src

と表示されるのは，しれっと，

workspace: /home/leus/catkin_ws/src

に書き換えれば，今作っている環境は壊すことなく，作れると思います。

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なるほど、のちにmasterにマージされるのですね
このREADMEに従って環境をつくり、実機できちんと動くか確認しつつやってみようと思います、ありがとうございます


```
cd catkin_ws/src
wstool set nao_robot --git https://github.com/ros-naoqi/nao_robot
(if you use ROS >= melodic) wstool update nao_robot
wstool set pepper_robot --git https://github.com/ros-naoqi/pepper_robot
wstool set naoqi_driver --git https://github.com/ros-naoqi/naoqi_driver
wstool update pepper_robot
wstool update naoqi_driver
wstool set naoqi_bridge --git https://github.com/ros-naoqi/naoqi_bridge
wstool set naoqi_bridge_msgs --git https://github.com/ros-naoqi/naoqi_bridge_msgs
wstool update naoqi_bridge
wstool update naoqi_bridge_msgs
```

Please compile them.
```
cd .. # catkin_ws
catkin build --continue-on-failure
source devel/setup.bash
```

## Interface when controlling NAO and Pepper via roseus

Common methods for NAO and Pepper are defined in `naoqieus/naoqi-interface.l`. NAO-specific methods are defined in `naoeus/nao-interface.l`. Pepper-specific methods are defined in `peppereus/pepper-interface.l`. For further details about each method, please refer to [**_naoqieus_**](naoqieus/README.md), [**_naoeus_**](naoeus/README.md), and [**_peppereus_**](peppereus/README.md) respectively.
Expand Down Expand Up @@ -157,3 +180,26 @@ To control NAO and Pepper via gazebo simulator and roseus, please refer to [here
[**_jsk_201504_miraikan_**](jsk_201504_miraikan/README.md)
- demo package which Pepper introduces themselves

## Troubleshooting

* If you use Ubuntu18.04, you need to set audio `false` in `~/catkin_ws/src/naoqi_driver/share/boot_config.json`

```
"audio":
{
"enabled" : false
},
```

* If you have the error about naoqi_dashboard, the following methods will probably work.

Install goobject
```
$ sudo apt install python-gobject-2
```

* If you connect to the robot using LAN cable, you need to set argument `network_interface` when launch `jsk_pepper_startup.launch`

```
$ roslaunch jsk_pepper_startup jsk_pepper_startup.launch network_interface:=enp0s31f6
```