Error while trying to move Pepper Robot with teleop.

asked 2021-09-15 07:55:27 -0600

DAC31415
1 ●3 ●4 ●4

updated 2021-09-16 05:55:58 -0600

Hello.

I hope you can help me. I'm having the following error while trying to move Pepper with the keyboard. So my main goal is to map and then navigate in an environment with Pepper. Basically, trying to emulate what you can do like the turtlebot tutorial. First, navigate manually to acquire the map and then navigate using that map. Also, I realized that not all the sensors don't have topic to subscribe from or I might be missing something. I have been bale to activate one camera.

[ERROR] [1631700638.310652]: bad callback: <bound method="" movetolistener.cvelcb="" of="" <movetolistener(thread-1,="" initial)>>="" traceback="" (most="" recent="" call="" last):="" <br=""> File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/topics.py", line 750, in _invoke_callback cb(msg) File "/home/danalcruz/catkin_ws/src/naoqi_bridge/naoqi_driver_py/src/naoqi_driver/naoqi_moveto.py", line 66, in cvelCB self.motionProxy.moveToward(twist.linear.x, twist.linear.y, twist.angular.z)
File "/home/danalcruz/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/naoqi.py", line 194, in __call__ return self.__wrapped__.method_missing(self.__method__, args, *kwargs) File "/home/danalcruz/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/naoqi.py", line 264, in method_missing raise e RuntimeError: ALMotion::moveToward module destroyed

I'm using Ros melodic in Ubuntu 18.04 and using pepper_bringup .

So my main goal is to map and then navigate in an environment with Pepper. Basically, trying to emulate what you can do like the turtlebot tutorial. First, navigate manually to acquire the map and then navigate using that map. Also, I realized that not all the sensors don't have topic to subscribe from or I might be missing something. I have been bale to activate one camera.

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answered 2021-09-15 08:57:38 -0600

osilva

1650 ●3 ●172 ●19 https://github.com/rob...

Pepper simulation in ROS is a little tricky in general due to naoqi layer, not as a straightforward as Turtlebot3. If your goal is to do mapping with Pepper, I suggest to look at qibullet; https://github.com/softbankrobotics-r...

The last updated tutorial was for ROS Indigo: http://wiki.ros.org/pepper/Tutorials If you can try it ROS Indigo first, if runs successfully, then you can work your way at fixing the issues.

For your particular issue it looks there is an issue with the incompatibility of ROS messages used in different distributions. A suggestion try to run the nodes directly instead of using roslaunch. This will help you to better troubleshoot the error.

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I will check that out. Thanks. Also, I think it would run each node, cause even to read the sensors I have to use a different launch file but that it confronts with the full one. At first, I supposed that the full would include the sensors but the laser scans are not giving me any information with the real robot. Thanks.

DAC31415 ( 2021-09-16 05:55:48 -0600 )edit

Yes it’s not straight forward. Agree it’s better to start by accessing the sensor info as direct as possible. Good luck

osilva ( 2021-09-16 06:01:29 -0600 )edit

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Error while trying to move Pepper Robot with teleop.

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