Nao troubleshooting - Revision history

Victorm at 20:25, 1 November 2015

2015-11-01T20:25:21Z

Victorm at 20:22, 1 November 2015

2015-11-01T20:22:32Z

Victorm at 07:49, 29 September 2014

2014-09-29T07:49:43Z

Victorm at 08:03, 18 June 2014

2014-06-18T08:03:22Z

Victorm at 08:01, 18 June 2014

2014-06-18T08:01:23Z

Victorm at 08:44, 12 March 2014

2014-03-12T08:44:34Z

Victorm at 08:56, 28 November 2013

2013-11-28T08:56:26Z

Victorm at 10:45, 26 November 2013

2013-11-26T10:45:32Z

Victorm at 12:08, 1 September 2013

2013-09-01T12:08:36Z

Victorm at 08:35, 19 September 2012

2012-09-19T08:35:59Z

@@ Line 74: / Line 74: @@
 ==ALSpeechRecognition not found==
-If you are trying to work with Nao's [https://community.aldebaran-robotics.com/doc/2-1/naoqi/audio/alspeechrecognition.html#alspeechrecognition speech recognition] but it can't find the module, either it hasn't been added to <span style="color:#1E90FF">''autoload.ini''</span>, or you own the [http://en.wikipedia.org/wiki/RoboCup RoboCup] edition of Nao. Only the Academics edition has this module available.
+If you are trying to work with Nao's [http://doc.aldebaran.com/2-1/naoqi/audio/alspeechrecognition.html#alspeechrecognition speech recognition] but it can't find the module, either it hasn't been added to <span style="color:#1E90FF">''autoload.ini''</span>, or you own the [http://en.wikipedia.org/wiki/RoboCup RoboCup] edition of Nao. Only the Academics edition has this module available.
 ==Proxy fails to connect==

@@ Line 7: / Line 7: @@
 You may run into annoying problems while developing for Nao (I certainly did), some easier to solve than others. I will try to explain how to fix the most common ones. If you have any questions regarding this subject or know of a different bug, feel free to send me an email describing it, and I will add it to this section. Just remember to try Google first!
-<span style="color:#606060">'''''NOTE: This tutorial was targeted for version 1.10.10 of the SDK and OS. Newer versions have changed a lot of things, making most of these tutorials deprecated.'''''</span>
+<span style="color:#606060">'''''NOTE: This 2011 tutorial was targeted for version 1.10.10 of the SDK and OS. Newer versions have changed a lot of things, making most of these tutorials deprecated.'''''</span>
 ==Python fails to run==

@@ Line 74: / Line 74: @@
 ==ALSpeechRecognition not found==
-If you are trying to work with Nao's [https://community.aldebaran-robotics.com/doc/2-00/naoqi/audio/alspeechrecognition.html#alspeechrecognition speech recognition] but it can't find the module, either it hasn't been added to <span style="color:#1E90FF">''autoload.ini''</span>, or you own the [http://en.wikipedia.org/wiki/RoboCup RoboCup] edition of Nao. Only the Academics edition has this module available.
+If you are trying to work with Nao's [https://community.aldebaran-robotics.com/doc/2-1/naoqi/audio/alspeechrecognition.html#alspeechrecognition speech recognition] but it can't find the module, either it hasn't been added to <span style="color:#1E90FF">''autoload.ini''</span>, or you own the [http://en.wikipedia.org/wiki/RoboCup RoboCup] edition of Nao. Only the Academics edition has this module available.
 ==Proxy fails to connect==

@@ Line 108: / Line 108: @@
 <span style="color:#FF0000">'''''WARNING: Flashing Nao's USB drive will delete forever any file or configuration you uploaded to him. Be sure to back them up before you proceed.'''''</span>
-The first thing is to download the OS image from [http://users.aldebaran-robotics.com/ here]. Downloads section, <span style="color:#228B22">"All Downloads"</span>, select your SDK's version (1.10.10 as I write this), <span style="color:#228B22">"NAO OS"</span>, and download <span style="color:#228B22">"NAOos RoboCup Image v1.10.10"</span> (124 MB). '''Do not extract it!''' The file <span style="color:#1E90FF">''nao-system-image-robocup-1.10.10.gz''</span> must remain as it is.
+The first thing is to download the OS image from [https://community.aldebaran-robotics.com/ here]. Downloads section, <span style="color:#228B22">"All Downloads"</span>, select your SDK's version (1.10.10 as I write this), <span style="color:#228B22">"NAO OS"</span>, and download <span style="color:#228B22">"NAOos RoboCup Image v1.10.10"</span> (124 MB). '''Do not extract it!''' The file <span style="color:#1E90FF">''nao-system-image-robocup-1.10.10.gz''</span> must remain as it is.
 Remove Nao's USB stick and plug it to your computer. Go to the <span style="color:#FF8C00">''bin/''</span> subdirectory of your SDK's directory, where a script named <span style="color:#1E90FF">''flash-usbstick''</span> lies. Open a terminal here and issue this, giving the path to the OS image:

@@ Line 74: / Line 74: @@
 ==ALSpeechRecognition not found==
-If you are trying to work with Nao's [https://community.aldebaran-robotics.com/doc/1-14/naoqi/audio/alspeechrecognition.html#alspeechrecognition speech recognition] but it can't find the module, either it hasn't been added to <span style="color:#1E90FF">''autoload.ini''</span>, or you own the [http://en.wikipedia.org/wiki/RoboCup RoboCup] edition of Nao. Only the Academics edition has this module available.
+If you are trying to work with Nao's [https://community.aldebaran-robotics.com/doc/2-00/naoqi/audio/alspeechrecognition.html#alspeechrecognition speech recognition] but it can't find the module, either it hasn't been added to <span style="color:#1E90FF">''autoload.ini''</span>, or you own the [http://en.wikipedia.org/wiki/RoboCup RoboCup] edition of Nao. Only the Academics edition has this module available.
 ==Proxy fails to connect==

← Older revision		Revision as of 08:44, 12 March 2014
Line 71:		Line 71:

	It is wise to test your applications in Naoqi before moving them to the real robot (that is, if it is feasible, because Naoqi does not implement all features, like movement), as the debugging will be easier to carry out (and you can easily check the output, too).		It is wise to test your applications in Naoqi before moving them to the real robot (that is, if it is feasible, because Naoqi does not implement all features, like movement), as the debugging will be easier to carry out (and you can easily check the output, too).
		+
		+	==ALSpeechRecognition not found==
		+
		+	If you are trying to work with Nao's [https://community.aldebaran-robotics.com/doc/1-14/naoqi/audio/alspeechrecognition.html#alspeechrecognition speech recognition] but it can't find the module, either it hasn't been added to <span style="color:#1E90FF">''autoload.ini''</span>, or you own the [http://en.wikipedia.org/wiki/RoboCup RoboCup] edition of Nao. Only the Academics edition has this module available.

	==Proxy fails to connect==		==Proxy fails to connect==

← Older revision		Revision as of 08:56, 28 November 2013
Line 6:		Line 6:

	You may run into annoying problems while developing for Nao (I certainly did), some easier to solve than others. I will try to explain how to fix the most common ones. If you have any questions regarding this subject or know of a different bug, feel free to send me an email describing it, and I will add it to this section. Just remember to try Google first!		You may run into annoying problems while developing for Nao (I certainly did), some easier to solve than others. I will try to explain how to fix the most common ones. If you have any questions regarding this subject or know of a different bug, feel free to send me an email describing it, and I will add it to this section. Just remember to try Google first!
		+
		+	<span style="color:#606060">'''''NOTE: This tutorial was targeted for version 1.10.10 of the SDK and OS. Newer versions have changed a lot of things, making most of these tutorials deprecated.'''''</span>

	==Python fails to run==		==Python fails to run==

← Older revision		Revision as of 10:45, 26 November 2013
Line 1:		Line 1:
		+	Go to root: [[TFM-Nao-Goalkeeper]]
		+
		+	----
		+	----
		+
		+
	You may run into annoying problems while developing for Nao (I certainly did), some easier to solve than others. I will try to explain how to fix the most common ones. If you have any questions regarding this subject or know of a different bug, feel free to send me an email describing it, and I will add it to this section. Just remember to try Google first!		You may run into annoying problems while developing for Nao (I certainly did), some easier to solve than others. I will try to explain how to fix the most common ones. If you have any questions regarding this subject or know of a different bug, feel free to send me an email describing it, and I will add it to this section. Just remember to try Google first!

Line 115:		Line 121:

	<span style="color:#606060">'''''NOTE: You can force the script to use a certain drive with -d<device> (like "sda"), and -f (as in "force").'''''</span>		<span style="color:#606060">'''''NOTE: You can force the script to use a certain drive with -d<device> (like "sda"), and -f (as in "force").'''''</span>
		+
		+
		+	----
		+	----
		+
		+	Go to root: [[TFM-Nao-Goalkeeper]]
		+
		+	Links to articles:
		+
		+	[[Nao tutorial 1: First steps]]
		+
		+	[[Nao tutorial 2: First module]]
		+
		+	[[Nao troubleshooting]]

@@ Line 9: / Line 9: @@
 If you get an error like <span style="color:#FF1493">"ImportError: No module named naoqi"</span> while trying to run a test, do the following. Open your <span style="color:#1E90FF">''.bashrc''</span> file:
-<geshi lang=Bash lines=0>nano ~/.bashrc</geshi>
+<syntaxhighlight lang=Bash>nano ~/.bashrc</syntaxhighlight>
 Go to the end (<span style="color:#228B22">'''Page Down'''</span>) and add this, changing the first path so it points to the location where your SDK is:
-<geshi lang=Bash lines=0>export AL_DIR=/media/data/naoqi-sdk-1.10.10-linux
+<syntaxhighlight lang=Bash>export AL_DIR=/media/data/naoqi-sdk-1.10.10-linux
 export LD_LIBRARY_PATH=$AL_DIR/lib
 export PATH=$AL_DIR/bin:$PATH
 export PYTHONHOME=$AL_DIR
-export PYTHONPATH=.:$AL_DIR/lib:$PYTHONPATH</geshi>
+export PYTHONPATH=.:$AL_DIR/lib:$PYTHONPATH</syntaxhighlight>
 Save, close, exit the terminal and open it again so the changes are applied. Check it with this if you want:
-<geshi lang=Bash lines=0>echo $PYTHONHOME</geshi>
+<syntaxhighlight lang=Bash>echo $PYTHONHOME</syntaxhighlight>
 You can try now rerunning the test. Please mind that "normal" Python programs (not for Nao) may fail with something like <span style="color:#FF1493">"ImportError: No module named os"</span>. This means that you will have to comment the two last exports (the Python ones) and reopen the terminal. It is a bit tiring, but necessary:
-<geshi lang=Bash lines=0>export AL_DIR=/media/data/naoqi-sdk-1.10.10-linux
+<syntaxhighlight lang=Bash>export AL_DIR=/media/data/naoqi-sdk-1.10.10-linux
 export LD_LIBRARY_PATH=$AL_DIR/lib
 export PATH=$AL_DIR/bin:$PATH
 #export PYTHONHOME=$AL_DIR
-#export PYTHONPATH=.:$AL_DIR/lib:$PYTHONPATH</geshi>
+#export PYTHONPATH=.:$AL_DIR/lib:$PYTHONPATH</syntaxhighlight>
 ===Libraries===
@@ Line 35: / Line 35: @@
 If you get an error like <span style="color:#FF1493">"ImportError: libtk8.5.so: cannot open shared object file: No such file or directory"</span>, it is because Python is trying to access that library using the wrong name. The following will fix it in a "brute force" way. First, locate the library in your system:
-<geshi lang=Bash lines=0>sudo updatedb
+<syntaxhighlight lang=Bash>sudo updatedb
-locate libtk8.5.so</geshi>
+locate libtk8.5.so</syntaxhighlight>
 This will tell you the real location, mine was <span style="color:#1E90FF">''/usr/lib/libtk8.5.so.0''</span>. Python expects it to be just <span style="color:#1E90FF">''/usr/lib/libtk8.5.so''</span>. Let's fix it in an unglamorous fashion:
-<geshi lang=Bash lines=0>sudo cp /usr/lib/libtk8.5.so.0 /usr/lib/libtk8.5.so</geshi>
+<syntaxhighlight lang=Bash>sudo cp /usr/lib/libtk8.5.so.0 /usr/lib/libtk8.5.so</syntaxhighlight>
 And rerun the test. It is possible that you get the same error relating to <span style="color:#1E90FF">''libtcl8.5.so''</span>. It is fixed the same way, I just had to change the names. Of course, we could create symbolic links or adapt some files here and there, but I am not in the mood.
@@ Line 54: / Line 54: @@
 I solved it using the solution exposed [[Nao troubleshooting#Libraries | before]]. I issued:
-<geshi lang=Bash lines=0>sudo cp /usr/lib/libmpfr.so /usr/lib/libmpfr.so.1</geshi>
+<syntaxhighlight lang=Bash>sudo cp /usr/lib/libmpfr.so /usr/lib/libmpfr.so.1</syntaxhighlight>
 And tried again to compile.
@@ Line 76: / Line 76: @@
 Creating your own broker is so easy that it hurts. Connect to Nao via SSH as root and edit the module's file:
-<geshi lang=Bash lines=0>nano /home/nao/naoqi/preferences/autoload.ini</geshi>
+<syntaxhighlight lang=Bash>nano /home/nao/naoqi/preferences/autoload.ini</syntaxhighlight>
 Then, seek the line where your module is, and prepend <span style="color:#FF1493">''"[broker name]"''</span> to it, like:
-<geshi lang=Bash lines=0>[mybroker]</geshi>
+<syntaxhighlight lang=Bash>[mybroker]</syntaxhighlight>
 This tells Nao to create a new module with that name, that will load the module(s) specified next. Be aware that any other module(s) situated after yours will also be associated to this new broker, unless there is another <span style="color:#FF1493">''"[broker name]"''</span> line before it/them.
@@ Line 86: / Line 86: @@
 Now you must reboot Nao. Then, before testing your new broker using a Python example, you must find the port it has binded to (it is no longer 9559). This can be easily done with Nmap (use your robot's IP address):
-<geshi lang=Bash lines=0>sudo nmap 192.168.1.102 -p9500-10000 -sV</geshi>
+<syntaxhighlight lang=Bash>sudo nmap 192.168.1.102 -p9500-10000 -sV</syntaxhighlight>
 The output will say something like <span style="color:#FF1493">''"9561/tcp open  unknown"''</span>. That's the port of your new broker. Edit the Python code and you are a go.
@@ Line 100: / Line 100: @@
 Remove Nao's USB stick and plug it to your computer. Go to the <span style="color:#FF8C00">''bin/''</span> subdirectory of your SDK's directory, where a script named <span style="color:#1E90FF">''flash-usbstick''</span> lies. Open a terminal here and issue this, giving the path to the OS image:
-<geshi lang=Bash lines=0>sudo ./flash-usbstick ../../nao-system-image-robocup-1.10.10.gz</geshi>
+<syntaxhighlight lang=Bash>sudo ./flash-usbstick ../../nao-system-image-robocup-1.10.10.gz</syntaxhighlight>
 The script will try to detect and use a good enough removable USB drive, that is:
@@ Line 109: / Line 109: @@
 The script will tell you to <span style="color:#FF1493">''"Please umount: /dev/sdb1"''</span> (the device name may vary). You have to umount both partitions of the device:
-<geshi lang=Bash lines=0>sudo umount /dev/sdb1
+<syntaxhighlight lang=Bash>sudo umount /dev/sdb1
-sudo umount /dev/sdb2</geshi>
+sudo umount /dev/sdb2</syntaxhighlight>
 And retry the script. Now it should take some minutes to format the drive and copy the files. After this, you can remove the stick and plug it back on Nao.
 <span style="color:#606060">'''''NOTE: You can force the script to use a certain drive with -d<device> (like "sda"), and -f (as in "force").'''''</span>

@@ Line 1: / Line 1: @@
 You may run into annoying problems while developing for Nao (I certainly did), some easier to solve than others. I will try to explain how to fix the most common ones. If you have any questions regarding this subject or know of a different bug, feel free to send me an email describing it, and I will add it to this section. Just remember to try Google first!
-=Python fails to run=
+==Python fails to run==
 Using Naoqi in a Python program requires some environment variables to be set. Also, forgetting to remove them before running "normal" programs may give an error. Read this section to know which variables you should declare, among other things.
-==Imports==
+===Imports===
 If you get an error like <span style="color:#FF1493">"ImportError: No module named naoqi"</span> while trying to run a test, do the following. Open your <span style="color:#1E90FF">''.bashrc''</span> file:
@@ Line 31: / Line 31: @@
 #export PYTHONPATH=.:$AL_DIR/lib:$PYTHONPATH</geshi>
-==Libraries==
+===Libraries===
 If you get an error like <span style="color:#FF1493">"ImportError: libtk8.5.so: cannot open shared object file: No such file or directory"</span>, it is because Python is trying to access that library using the wrong name. The following will fix it in a "brute force" way. First, locate the library in your system:
@@ Line 44: / Line 44: @@
 And rerun the test. It is possible that you get the same error relating to <span style="color:#1E90FF">''libtcl8.5.so''</span>. It is fixed the same way, I just had to change the names. Of course, we could create symbolic links or adapt some files here and there, but I am not in the mood.
-=Cmake fails to run=
+==Cmake fails to run==
 Cmake is easier to get running in Debian than in Ubuntu, where it tends to complain a lot about undefined variables. If this happens to you, try to pass them as -D parameters, using absolute paths for files or directories. This is the only advice I can give to you.
-=Can't compile my module=
+==Can't compile my module==
 Have you installed all dependencies? If you did, this issue may be similar to the one with Python: the compiler is looking for libraries that have the wrong name. For example, when compiling for Geode I got this: <span style="color:#FF1493">"error while loading shared libraries: libmpfr.so.1: cannot open shared object file: No such file or directory"</span>.
@@ Line 58: / Line 58: @@
 And tried again to compile.
-=Nao doesn't load my module=
+==Nao doesn't load my module==
 Probably your code has some error that allowed it to compile, but is making it crash when Nao tries to load it. Check Nao's OS logs, and try to debug your application using the common tools ([http://www.gnu.org/software/gdb/ GDB], etc).
@@ Line 64: / Line 64: @@
 It is wise to test your applications in Naoqi before moving them to the real robot (that is, if it is feasible, because Naoqi does not implement all features, like movement), as the debugging will be easier to carry out (and you can easily check the output, too).
-=Proxy fails to connect=
+==Proxy fails to connect==
 In 99% of the cases, you provided the wrong IP address and/or port. Is Nao up and running, and is your module listed as loaded?
@@ Line 70: / Line 70: @@
 If not, check if the Python call uses the right module and function names.
-=How to create your own broker=
+==How to create your own broker==
 I already told you a few times how important using your own brokers is. If your application hangs while it is "hooked" to Nao's default MainBroker, it will hang too, and the robot may fall to the ground. It is an undesirable situation, believe me.
@@ Line 90: / Line 90: @@
 The output will say something like <span style="color:#FF1493">''"9561/tcp open  unknown"''</span>. That's the port of your new broker. Edit the Python code and you are a go.
-=How to flash Nao=
+==How to flash Nao==
 Did you break something? Have you edited so many files of your Nao that there is no way you can make him run again? Fear not, as you can flash his USB unit anytime to return it to factory state. I will show you how, you just need a bit of patience. After this, he will boot without problems and you will be able to configure him again.