From 3266c4ae39706955f084a06b829e53d8fc036d27 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Tue, 20 Dec 2022 16:13:16 +0900 Subject: [PATCH 01/15] [jsk_naoqi_robot/cross/README] add OS prerequisites information about docker installation --- jsk_naoqi_robot/cross/README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index 16385207de..8fc1e646d6 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -8,6 +8,10 @@ This project contains a set of patches and scripts to compile and run ROS1 on a We're going to use Docker to set up a container that will compile all the tools for cross-compiling ROS and all of its dependencies. Go to https://docs.docker.com/install/linux/docker-ce/ubuntu/#install-using-the-repository to install it for your Linux distribution. +Please make sure you meet the prerequisites at https://docs.docker.com/engine/install/ubuntu/#prerequisites + +Also, when you verify that the Docker Engine installation is successful by running the hello-world image, it is recommended to add `-rm` option like `sudo docker run --rm hello-world`. + 1. Add your user to docker group ``` $ sudo usermod -aG docker $USER From c936c78391a99e2eaef24864e6964c5202d22864 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Tue, 20 Dec 2022 16:16:13 +0900 Subject: [PATCH 02/15] [jsk_naoqi_robot/cross/README] fix typo (add sudo & s to python-vcstool) --- jsk_naoqi_robot/cross/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index 8fc1e646d6..eec356d1eb 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -36,7 +36,7 @@ export ALDE_CTC_CROSS=$HOME/ctc-linux64-atom-2.5.10.7 4. Install command used in scripts ``` -apt install python-vcstool sshpass +sudo apt install python-vcstools sshpass ``` ### Build ROS System on Docker (Run only the fist time per host computer) From be019db27da2eb46e8c1aa19274ba9fee5e6f729 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Wed, 21 Dec 2022 11:09:34 +0900 Subject: [PATCH 03/15] [jsk_naoqi_robot/cross/README] add prerequisites --- jsk_naoqi_robot/cross/README.md | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index eec356d1eb..c2ef20014b 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -4,12 +4,22 @@ This project contains a set of patches and scripts to compile and run ROS1 on a ## Setup Pepper Robot +### Prerequisites + +- Pepper robot running NAOqi OS 2.5.X (Robot version 1.6) + +Note that this project does not cover NAOqi OS 2.9 (Robot version 1.8). + +As for robot version, please refer to http://doc.aldebaran.com/2-8/family/pepper_technical/pepper_versions.html + +- Linux PC which meets the prerequisites at https://docs.docker.com/engine/install/ubuntu/#prerequisites to prepare cros-compiling environment and copy system to Pepper. + +- (Recommendation) Linux PC (OS 16.04 + ROS kinetic, and lower) which has environment for NAOqi robot for developping programs for Pepper. For further information, please refer to https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_naoqi_robot#setup-environment. + ### Prepare cross-compiling environment (Run only the fist time per host computer) We're going to use Docker to set up a container that will compile all the tools for cross-compiling ROS and all of its dependencies. Go to https://docs.docker.com/install/linux/docker-ce/ubuntu/#install-using-the-repository to install it for your Linux distribution. -Please make sure you meet the prerequisites at https://docs.docker.com/engine/install/ubuntu/#prerequisites - Also, when you verify that the Docker Engine installation is successful by running the hello-world image, it is recommended to add `-rm` option like `sudo docker run --rm hello-world`. 1. Add your user to docker group From f5fa7c6e1a34e9f39c454ac7307746da55187992 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Wed, 21 Dec 2022 15:11:24 +0900 Subject: [PATCH 04/15] [jsk_naoqi_robot/cross/README] fix typo (remove s from python-vcstools) --- jsk_naoqi_robot/cross/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index c2ef20014b..b1cc2eeede 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -46,7 +46,7 @@ export ALDE_CTC_CROSS=$HOME/ctc-linux64-atom-2.5.10.7 4. Install command used in scripts ``` -sudo apt install python-vcstools sshpass +sudo apt install python-vcstool sshpass ``` ### Build ROS System on Docker (Run only the fist time per host computer) From cdca4f4a89e5bd3d1e33574d9609aea281484bc4 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Wed, 21 Dec 2022 15:39:31 +0900 Subject: [PATCH 05/15] [jsk_naoqi_robot/cross/README] add information about backup of i386_System (JSK member only) --- jsk_naoqi_robot/cross/README.md | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index b1cc2eeede..75c15d7329 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -57,7 +57,16 @@ make system Caution!!! It will take more than a few hours !! -Run following command to copy ROS1 base sytem to Pepper onboard computer. This should be done only in the first time. So normally user do not have to run this command. You need to specify password by -p option. +For JSK users, you can find latest backup of `i386_System.tgz` at [Google Drive](https://drive.google.com/drive/u/1/folders/10rINVGt1iDM2WNofmf0sZBX_iTnpXya6). + +You can unzip this by: +``` +gzip -d i386_System.tgz +tar -xvf i386_System.tar +``` +For further information, please see https://github.com/jsk-ros-pkg/jsk_robot/pull/1583#issuecomment-1235043472 + +Run following command to copy ROS1 base system to Pepper onboard computer. This should be done only in the first time. So normally user do not have to run this command. You need to specify password by -p option. ``` ./install.sh -p -d System ``` From 647e5c8aea6a77c68f7e51c14fb78527a8ccb7d8 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Wed, 21 Dec 2022 15:42:40 +0900 Subject: [PATCH 06/15] [jsk_naoqi_robot/cross/README] add note that issue of compiling pepper.l is solved --- jsk_naoqi_robot/cross/README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index 75c15d7329..b3acfa4b95 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -111,6 +111,9 @@ You can connect to `app_chooser` by http://<$NAO_IP>:8000/rwt_app_chooser/#!robo ### To comple `pepper.l` within the robot +Note: This issue was solved by https://github.com/kochigami/jsk_robot/commit/1a0cfe08e51421a2378bc2938ea3014b62e788fb + +Please refer to this comment: https://github.com/jsk-ros-pkg/jsk_robot/pull/1583#issuecomment-1235043472 ``` cp -r /opt/ros/melodic/share/pepper_meshes/meshes/ ./i386_User/src/pepper_meshes/ rm -fr i386_User/build/pepper_meshes/ i386_User/build/peppereus From 2530b07e972d2c099855c619823e7fb67ca0e102 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Wed, 21 Dec 2022 23:35:27 +0900 Subject: [PATCH 07/15] [jsk_naoqi_robot/cross/README] update information of when you want to use ethernet --- jsk_naoqi_robot/cross/README.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index b3acfa4b95..83ea575152 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -132,11 +132,15 @@ make user make install ``` -If you want to use ethernet, you need to change from `wlan0` to `eth0` in `jsk_naoqi_robot/cross/startup_scripts/user_setup.bash` and run `make install` +If you want to use ethernet, you need to change from `wlan0` to `eth0` in `jsk_naoqi_robot/cross/startup_scripts/user_setup.bash` and `jsk_naoqi_robot/cross/startup_scripts/start.sh`, and run `make install` ``` export ROS_IP=$(ip addr show eth0 | grep -Po '(?<= inet )([0-9]{1,3}.){3}[0-9]{1,3}') ``` +``` +screen -c User/screenrc -S session -p 0 -X stuff "roslaunch jsk_pepper_startup jsk_pepper_startup.launch launch_dashboard:=false network_interface:=eth0 +``` + If you add more dependencies to `package.xml`, you need to remove `i386_Users` and run `make user` again. From c75b14f22c3779dd10e8c286b9ec2bbe9da369ed Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Thu, 22 Dec 2022 14:24:32 +0900 Subject: [PATCH 08/15] [jsk_naoqi_robot/cross/README] update information about how to start jsk_pepper_startup.launch --- jsk_naoqi_robot/cross/README.md | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index 83ea575152..6fc55cf53b 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -86,14 +86,19 @@ To copy your software to Pepper onboard computer, run following command ## Start `jsk_pepper_startup.launch` -ssh to NAO_IP machine and run +ssh to NAO_IP machine and run this command directly under the home directory. ``` -source User/user_setup.bash -roslaunch --screen jsk_pepper_startup jsk_pepper_startup.launch network_interface:=eth0 launch_dashboard:=false launch_joy:=false +./User/start.sh ``` +`C-t d` enables you to detach a session from a terminal. + +If you want to attach the session again, please execute `./User/attach.sh`. + You can connect to `app_chooser` by http://<$NAO_IP>:8000/rwt_app_chooser/#!robot +Also, you can access to running ROS process on Pepper from your remote PC by typing `rossetmaster <$NAO_IP>` + ## Known Issues ### `./install.sh -d System` errors at the first time. From a30476b0bff3d74035ab2012c95acb9177fa9490 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Thu, 22 Dec 2022 14:47:51 +0900 Subject: [PATCH 09/15] [jsk_naoqi_robot/cross/README] add information how to handle several sessions --- jsk_naoqi_robot/cross/README.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index 6fc55cf53b..d3986c7d1c 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -95,6 +95,15 @@ ssh to NAO_IP machine and run this command directly under the home directory. If you want to attach the session again, please execute `./User/attach.sh`. +If there are several sessions like this (You can see same outputs with `screen -c User/screenrc -ls`.): +``` +There are several suitable screens on: + 31164.session (04/04/14 12:28:31) (Detached) + 29334.session (04/04/14 12:26:33) (Detached) +Use -S to specify a session. +``` +Please specify a session like `creen -c User/screenrc -r 31164` and it is recommended to close all sessions one by one. + You can connect to `app_chooser` by http://<$NAO_IP>:8000/rwt_app_chooser/#!robot Also, you can access to running ROS process on Pepper from your remote PC by typing `rossetmaster <$NAO_IP>` From 5495744f2e30b6c89c84a9e269f1164fff21a4ef Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Thu, 22 Dec 2022 14:47:51 +0900 Subject: [PATCH 10/15] [jsk_naoqi_robot/cross/README] add information how to handle several sessions --- jsk_naoqi_robot/cross/README.md | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index 6fc55cf53b..95716a40fd 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -95,6 +95,15 @@ ssh to NAO_IP machine and run this command directly under the home directory. If you want to attach the session again, please execute `./User/attach.sh`. +If there are several sessions like this (You can see same outputs with `screen -c User/screenrc -ls`.): +``` +There are several suitable screens on: + 31164.session (04/04/14 12:28:31) (Detached) + 29334.session (04/04/14 12:26:33) (Detached) +Use -S to specify a session. +``` +Please specify a session like `screen -c User/screenrc -r 31164` and it is recommended to close all sessions one by one. + You can connect to `app_chooser` by http://<$NAO_IP>:8000/rwt_app_chooser/#!robot Also, you can access to running ROS process on Pepper from your remote PC by typing `rossetmaster <$NAO_IP>` From 6d8927271cf3926a0e7aa3ab806968d7c3264d5c Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Fri, 27 Jan 2023 14:01:17 +0900 Subject: [PATCH 11/15] [jsk_naoqi_robot/README] delete Pepper's hardware type from Prerequisites because this information does not relate to NAOqi version. --- jsk_naoqi_robot/cross/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index 54d1c3f433..c0ae079991 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -6,9 +6,9 @@ This project contains a set of patches and scripts to compile and run ROS1 on a ### Prerequisites -- Pepper robot running NAOqi OS 2.5.X (Robot version 1.6) +- Pepper robot running NAOqi OS 2.5.X -Note that this project does not cover NAOqi OS 2.9 (Robot version 1.8). +Note that this project does not cover NAOqi OS 2.9. As for robot version, please refer to http://doc.aldebaran.com/2-8/family/pepper_technical/pepper_versions.html From bf00109343b9e887d8b041099896a02f59f19099 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Mon, 7 Aug 2023 18:30:06 +0900 Subject: [PATCH 12/15] [jsk_naoqi_robot/cross/README] update information about python-vcs for Ubuntu 20.04 --- jsk_naoqi_robot/cross/README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index c0ae079991..0fc3028155 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -49,6 +49,12 @@ export ALDE_CTC_CROSS=$HOME/ctc-linux64-atom-2.5.10.7 sudo apt install python-vcstool sshpass ``` +If you use Ubuntu 20.04, please execute the command below: + +``` +sudo apt install python3-vcstool sshpass +``` + ### Build ROS System on Docker (Run only the fist time per host computer) ``` From e44d9c7fa61ef966de0c98396c98d439baf95c06 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Mon, 7 Aug 2023 18:36:05 +0900 Subject: [PATCH 13/15] [jsk_naoqi_robot/cross/README] update information about recommendation PC for developping programs --- jsk_naoqi_robot/cross/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index 0fc3028155..57ca5c33b1 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -14,7 +14,7 @@ As for robot version, please refer to http://doc.aldebaran.com/2-8/family/pepper - Linux PC which meets the prerequisites at https://docs.docker.com/engine/install/ubuntu/#prerequisites to prepare cros-compiling environment and copy system to Pepper. -- (Recommendation) Linux PC (OS 16.04 + ROS kinetic, and lower) which has environment for NAOqi robot for developping programs for Pepper. For further information, please refer to https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_naoqi_robot#setup-environment. +- (Recommendation) Linux PC (OS 18.04 + ROS melodic or OS 16.04 + ROS kinetic) which has environment for NAOqi robot for developping programs for Pepper. For further information, please refer to https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_naoqi_robot#setup-environment. ### Prepare cross-compiling environment (Run only the fist time per host computer) From 1651a0395a4c235f1f1a58d21caf1ee05f43eb0a Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Mon, 7 Aug 2023 18:38:49 +0900 Subject: [PATCH 14/15] [jsk_naoqi_robot/cross/README] update information about pepper.l installation --- jsk_naoqi_robot/cross/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index 57ca5c33b1..f57126c370 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -132,11 +132,11 @@ Also, you can access to running ROS process on Pepper from your remote PC by typ ### To comple `pepper.l` within the robot -Note: This issue was solved by https://github.com/kochigami/jsk_robot/commit/1a0cfe08e51421a2378bc2938ea3014b62e788fb +Note: This issue was solved by https://github.com/kochigami/jsk_robot/commit/1a0cfe08e51421a2378bc2938ea3014b62e788fb and https://github.com/jsk-ros-pkg/jsk_robot/pull/1847 Please refer to this comment: https://github.com/jsk-ros-pkg/jsk_robot/pull/1583#issuecomment-1235043472 ``` -cp -r /opt/ros/melodic/share/pepper_meshes/meshes/ ./i386_User/src/pepper_meshes/ +cp -r /opt/ros/$ROS_DISTRO/share/pepper_meshes/meshes/ ./i386_User/src/pepper_meshes/ rm -fr i386_User/build/pepper_meshes/ i386_User/build/peppereus ./build_user.sh build pepper_meshes peppereus ``` From e87ea30b768b65ab0ef4572f4587ebfb108c31c0 Mon Sep 17 00:00:00 2001 From: Kanae Kochigami Date: Mon, 7 Aug 2023 18:48:50 +0900 Subject: [PATCH 15/15] [jsk_naoqi_robot/cross] update information about development --- jsk_naoqi_robot/cross/README.md | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/jsk_naoqi_robot/cross/README.md b/jsk_naoqi_robot/cross/README.md index f57126c370..1ca15df3dc 100644 --- a/jsk_naoqi_robot/cross/README.md +++ b/jsk_naoqi_robot/cross/README.md @@ -143,7 +143,7 @@ rm -fr i386_User/build/pepper_meshes/ i386_User/build/peppereus ### Development -On development phase, users are expected to develop sofoware on a remote machine. All codes are expected to add in `jsk_pepper_startup` package. +On development phase, users are expected to develop software on a remote machine. All codes are expected to add in `jsk_pepper_startup` package. You can send all development files to robot and start them on boot time. Note that this process requres `NAO_IP` environment variable. @@ -158,14 +158,16 @@ If you want to use ethernet, you need to change from `wlan0` to `eth0` in `jsk_n export ROS_IP=$(ip addr show eth0 | grep -Po '(?<= inet )([0-9]{1,3}.){3}[0-9]{1,3}') ``` -``` -screen -c User/screenrc -S session -p 0 -X stuff "roslaunch jsk_pepper_startup jsk_pepper_startup.launch launch_dashboard:=false network_interface:=eth0 -``` +To startup Pepper, please refer to `Start jsk_pepper_startup.launch` If you add more dependencies to `package.xml`, you need to remove `i386_Users` and run `make user` again. +You can restore from saved docker container. For JSK users, you can find latest data at [Google Drive](https://drive.google.com/drive/u/1/folders/10rINVGt1iDM2WNofmf0sZBX_iTnpXya6). + +It will be useful when you can't create `ros1-pepper.tar` image. For example, when `./prepare_requirements_ros1.sh` fails unfortunately. -You can restore from saved docker container. For JSK users, you can find latest data at [Google Drive](https://drive.google.com/drive/u/1/folders/10rINVGt1iDM2WNofmf0sZBX_iTnpXya6). You can also find backup of `i386_System`. ``` docker load < ros1-pepper.tar -``` \ No newline at end of file +``` + +For more information, please refer to [here](https://github.com/jsk-ros-pkg/jsk_robot/issues/1846).