[jsk_naoqi_robot] READMEをアップデートする

[a-ichikura]

Setup Environment
1.Install Python Naoqi SDK You can download it here.

hereに紐づけられたURLがリンク切れしていたので、修正を行う
正しいURL↓
https://developer.softbankrobotics.com/nao6/naoqi-developer-guide/sdks/python-sdk/python-sdk-installation-guide#python-install-guide

★naoqiのversionが2.5.5ではなく2.8.7(2021年9月リリース）が最新になっている。
★jsk-ros-pkgのjsk_naoqi_robotのREADME.mdではSDKをgoogleドライブからdownloadするやり方が書いてあるので、そちらのやり方の方が確実かもしれない。

[k-okada]

環境設定の方法ですが，色々情報が錯綜して申し訳ないですが，https://github.com/k-okada/jsk_robot/tree/pepper_cross/jsk_naoqi_robot#setup-environment (jsk-ros-pkg#1528 )に情報を整理したいとおもいます．

また，文章はいくつか読み替えが必要で，
SDKは @ayfujii さんが作ってくれたバックアップドライブからダウンロードする．
僕の手元にあったものも置いてあるので，微妙にバージョンが違うものがありそうだけど，多分どれでも大丈夫だともう．

１）ダウンロードしたバージョンのファイル名に応じて，

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

をセットする．
NAO_IPやROS_IPも自分のPCのアドレスに応じてセット，

２）mkdir -p catkin_ws/src の部分で，catkin_ws は自分の環境に合わせてセット，例えばpepper_202207_ws みたいにしておくと良いとおもいます．の残りの部分も同じように読み替える

３） https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_naoqi_robot/naoqi.rosinstall は今あるプルリクエストがマージされたとした後のURLなので，https://raw.githubusercontent.com/k-okada/jsk_robot/pepper_cross/jsk_naoqi_robot/naoqi.rosinstall とする．

４）これで，エラー無くコンパイル出来たら，

roslaunch jsk_pepper_startup jsk_pepper_startup.launch

してから，
https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_naoqi_robot/peppereus/README.md#control-pepper-via-roseus
見て，色々動かしてみてください．

５）で，この時，unitree でも使っているapp_chooserが
http://<自分のPCのIP>:8000/rwt_app_chooser/
から使えるようになっているはずです．（未確認）

で，この使い方はぜひ覚えてほしいところです．基本は
https://github.com/k-okada/jsk_robot/tree/pepper_cross/jsk_naoqi_robot/jsk_pepper_startup/apps
みたいにアプリ毎にディレクトリ作って，
https://github.com/k-okada/jsk_robot/blob/pepper_cross/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml
でデモのlaunchファイルと作ればOKです．これは @kochigami の研究会アプリです．
https://github.com/k-okada/jsk_robot/blob/pepper_cross/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.png
がweb インターフェースから見えるアイコンなので，別件ですがぜひこれは変えてほしいです．
すべてのデモをこれで管理していくと，（meeting はもうちょっと整理が必要ですが）
#60 (comment)
で @tkmtnt7000 に振ったみたいに，自動で思い出メールが届けられるようになるはずです．

#60 (comment)

[a-ichikura]

岡田先生 cc:東風上さん, 藤井さん Instructionにしたがってワークスペースをビルドして、 jsk_pepper_startup.launchを立ち上げようとしてもエラーになります。 コンパイルまではエラーはありませんでした。 roslaunch jsk_pepper_startup jsk_pepper_startup.launch network_interface:=enx70886b8f1b7d launch_joy:=false で立ち上げようとしているのですが、 エラーメッセージが出ます。 https://gist.github.com/a-ichikura/a4355dbc0842798896cafa2cbb2478d4 NaOでもjsk_nao_startup.launchを立ち上げていて、 ほぼ同じことをしているとおもっています。 NaOのときに藤井さんにいただいた環境構築のinstructionは https://docs.google.com/presentation/d/18f_yNIzKctDQ01whVZCXwPrt2Stv8vHz/edit#slide=id.p1 [FATAL] [1657796208.169552]: Could not connect to required "joint_trajectory" action server, is the nao_controller node running? このメッセージが気になっていて、他に立ち上げなければいけないlaunchファイルがあるということでしょうか。 （今はPython SDKだけで動かしています） 教えていただけますと幸いです。 よろしくお願い致します。 市倉 2022年7月14日(木) 12:36 Kei Okada ***@***.***>:

…

環境設定の方法ですが，色々情報が錯綜して申し訳ないですが， https://github.com/k-okada/jsk_robot/tree/pepper_cross/jsk_naoqi_robot#setup-environment (jsk-ros-pkg#1528 <jsk-ros-pkg#1528> )に情報を整理したいとおもいます． また，文章はいくつか読み替えが必要で， SDKは @ayfujii <https://github.com/ayfujii> さんが作ってくれたバックアップドライブからダウンロードする． 僕の手元にあったものも置いてあるので，微妙にバージョンが違うものがありそうだけど，多分どれでも大丈夫だともう． １）ダウンロードしたバージョンのファイル名に応じて， export PYTHONPATH=$HOME/pynaoqi/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages:$PYTHONPATH をセットする． NAO_IPやROS_IPも自分のPCのアドレスに応じてセット， ２）mkdir -p catkin_ws/src の部分で，catkin_ws は自分の環境に合わせてセット，例えばpepper_202207_ws みたいにしておくと良いとおもいます．の残りの部分も同じように読み替える ３） https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_naoqi_robot/naoqi.rosinstall は今あるプルリクエストがマージされたとした後のURLなので， https://raw.githubusercontent.com/k-okada/jsk_robot/pepper_cross/jsk_naoqi_robot/naoqi.rosinstall とする． ４）これで，エラー無くコンパイル出来たら， roslaunch jsk_pepper_startup jsk_pepper_startup.launch してから， https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_naoqi_robot/peppereus/README.md#control-pepper-via-roseus 見て，色々動かしてみてください． ５）で，この時，unitree でも使っているapp_chooserが http://<自分のPCのIP>:8000/rwt_app_chooser/ から使えるようになっているはずです．（未確認） で，この使い方はぜひ覚えてほしいところです．基本は https://github.com/k-okada/jsk_robot/tree/pepper_cross/jsk_naoqi_robot/jsk_pepper_startup/apps みたいにアプリ毎にディレクトリ作って， https://github.com/k-okada/jsk_robot/blob/pepper_cross/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.xml でデモのlaunchファイルと作ればOKです．これは @kochigami <https://github.com/kochigami> の研究会アプリです． https://github.com/k-okada/jsk_robot/blob/pepper_cross/jsk_naoqi_robot/jsk_pepper_startup/apps/meeting/meeting.png がweb インターフェースから見えるアイコンなので，別件ですがぜひこれは変えてほしいです． すべてのデモをこれで管理していくと，（meeting はもうちょっと整理が必要ですが） #60 (comment) <#60 (comment)> で @tkmtnt7000 <https://github.com/tkmtnt7000> に振ったみたいに，自動で思い出メールが届けられるようになるはずです． #60 (comment) <#60 (comment)> — Reply to this email directly, view it on GitHub <#62 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AUAO2D7SU4HA6LUIE3UMRA3VT6DMFANCNFSM53M37EHA> . You are receiving this because you authored the thread.Message ID: ***@***.***>

[ayfujii]

市倉さん

ご連絡ありがとうございます。

あまりpepperは詳しくないのですが、naoでも同じようなエラーを見かけることがある気がします。
（あまりちゃんと覚えていないので厳密に同じかはわかりませんが）
エラーがでてもめげずに、10回くらい同じlaunchを立ち上げ続けるといつか繋がることがあるかもしれないです。
（かなり適当ですみません。）

また、
network_interface:=enx70886b8f1b7d
は現在pepperと繋げている有線or無線と一致していますでしょうか。

[ayfujii]

  what():  	ALProxy::ALProxy
	Can't find service: ROS-Driver-Audio

の部分がよくないかもしれないと思いました。

関係あるのかわかりませんが、
launch_play_audio_stream:=false
をつけ加えても同じエラーが出ますでしょうか？

[ayfujii]

市倉さん

たびたびすみません。
もしかするとpythonSDKのバージョンが原因かもしれないと思えてきました。
上記のことをやってうまくいかなかったら、一度2.5.5のSDKをいれてPATHも書き換えて試してみていただけないでしょうか？

@kochigami お時間があるときに東風上さんが使われているpythonSDKのバージョンを教えていただけると幸いです。
（なんとなく全員で統一した方が良い気がしました。）

[a-ichikura]

藤井さん SDKのバージョン問題は私も考えていました。 2.8.7を使わなければいけない理由があるわけではないので、 明日2.5.5を入れて試してみます。 これでうまくいったら2.5.5でなければいけないこともREADMEやwilikiに書いておいた方が良いですよね。情報更新します。 ご連絡いただきありがとうございました。 2022年7月14日(木) 20:58 Ayaka Fujii ***@***.***>:

市倉さん たびたびすみません。 もしかするとpythonSDKのバージョンが原因かもしれないと思えてきました。 上記のことをやってうまくいかなかったら、一度2.5.5のSDKをいれてPATHも書き換えて試してみていただけないでしょうか？ @kochigami <https://github.com/kochigami> お時間があるときに東風上さんが使われているpythonSDKのバージョンを教えていただけると幸いです。 （なんとなく全員で統一した方が良い気がしました。） — Reply to this email directly, view it on GitHub <#62 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AUAO2D62UZXUQPDEGOKQFOLVT76FTANCNFSM53M37EHA> . You are receiving this because you authored the thread.Message ID: ***@***.***>

--

[ayfujii]

pepperのSDKなどのページを見ると、2.5系しか置かれていないので、もしかすると、2.8はNaoのV6用でpepperには対応していないのかもしれないと思いました。
https://www.softbankrobotics.com/emea/en/support/pepper-naoqi-2-9/downloads-softwares/former-versions?os=49&category=108

また、pepperの最新のSDKはQiSDKと呼ばれる2.9になっているようで、Androidアプリのように開発できるみたいです。
（pythonやROSでは使えないようですが...）
https://developer.softbankrobotics.com/blog/comparison-peppers-os-versions

[k-okada]

@a-ichikura 以下のそれぞれの結果はどうなっているかな？

$ echo $PYTHONPATH
/home/k-okada/catkin_ws/ws_pepper/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages:/home/k-okada/pynaoqi/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages:
$ rosversion naoqi_driver
0.5.10
$ rospack find naoqi_driver
/home/k-okada/catkin_ws/ws_pepper/src/naoqi_driver
$ roscd naoqi_driver
$ git branch
* kochigami-develop
  master
$ git remote -v
k-okada	git@github.com:k-okada/naoqi_driver.git (fetch)
k-okada	git@github.com:k-okada/naoqi_driver.git (push)
origin	git@github.com:kochigami/naoqi_driver (fetch)
origin	git@github.com:kochigami/naoqi_driver (push)

[a-ichikura]

$echo $PYTHONPATH
/home/ichikura/naoqi_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages:/home/ichikura/pynaoqi/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages
$ rospack find naoqi_driver
/home/ichikura/naoqi_ws/src/naoqi_driver
$ rosversion naoqi_driver
0.5.10
$ roscd naoqi_driver
$ git branch
* kochigami-develop
  master
$ git remote -v
origin	https://github.com/kochigami/naoqi_driver (fetch)
origin	https://github.com/kochigami/naoqi_driver (push)

Python SDKのpathを書き換えました。
また、launch_play_audio_streamをfalseにしましたが

  what():  	ALProxy::ALProxy
	Can't find service: ROS-Driver-Audio

ここのエラーは変わらずです。

$ roslaunch jsk_pepper_startup jsk_pepper_startup.launch launch_play_audio_stream:=false launch_joy:=false network_interface:=enx70886b8f1b7d
... logging to /home/ichikura/.ros/log/10c4dfb4-040d-11ed-88cf-287fcf9948c3/roslaunch-ichikura-ThinkPad-T495s-21107.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://169.254.54.161:38469/

SUMMARY
========

CLEAR PARAMETERS
 * /naoqi_dashboard_aggregator/

PARAMETERS
 * /naoqi_dashboard_aggregator/analyzers/joystick/discard_stale: True
 * /naoqi_dashboard_aggregator/analyzers/joystick/find_and_remove_prefix: joy_node
 * /naoqi_dashboard_aggregator/analyzers/joystick/path: Joystick
 * /naoqi_dashboard_aggregator/analyzers/joystick/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Camera/find_and_remove_prefix: naoqi_driver_camera
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Camera/path: Camera
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Camera/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Computer/find_and_remove_prefix: naoqi_driver_comp...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Computer/path: Computer
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Computer/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Joints/find_and_remove_prefix: naoqi_driver_joints:
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Joints/path: Joints
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Joints/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Network/find_and_remove_prefix: naoqi_driver_network
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Network/path: Network
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Network/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/PowerSystem/find_and_remove_prefix: naoqi_driver_batt...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/PowerSystem/path: Power System
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/PowerSystem/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/path: NAOqi
 * /naoqi_dashboard_aggregator/analyzers/naoqi/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/tf/find_and_remove_prefix: tf_monitor:
 * /naoqi_dashboard_aggregator/analyzers/tf/path: TF
 * /naoqi_dashboard_aggregator/analyzers/tf/type: diagnostic_aggreg...
 * /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/ichikura/na...
 * /robot/name: hop
 * /robot/type: pepper
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    list_up_ros_node (jsk_pepper_startup/list_up_ros_node.py)
    naoqi_dashboard (naoqi_dashboard/naoqi_dashboard)
    naoqi_dashboard_aggregator (diagnostic_aggregator/aggregator_node)
    pepper_robot (naoqi_driver/naoqi_driver_node)
    speaking_program_is_started_or_terminated (roseus/roseus)
    tf_monitor (diagnostic_common_diagnostics/tf_monitor.py)
  /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)

ROS_MASTER_URI=http://localhost:11311

process[pepper_robot-1]: started with pid [21128]
process[pepper_robot/pose/pose_controller-2]: started with pid [21129]
process[pepper_robot/pose/pose_manager-3]: started with pid [21130]
process[pepper_robot/camera/camera_nodelet_manager-4]: started with pid [21131]
process[pepper_robot/camera/front_rectify_color-5]: started with pid [21132]
process[pepper_robot/camera/bottom_rectify_color-6]: started with pid [21133]
process[pepper_robot/camera/ir_rectify_ir-7]: started with pid [21139]
process[pepper_robot/camera/depth_rectify_depth-8]: started with pid [21145]
process[pepper_robot/camera/depth_metric_rect-9]: started with pid [21162]
[ INFO] [1657869547.489568832]: Initializing nodelet with 4 worker threads.
Receiving information about robot model
process[pepper_robot/camera/depth_metric-10]: started with pid [21178]
process[pepper_robot/camera/register_depth_front-11]: started with pid [21185]
process[pepper_robot/camera/points_xyzrgb_sw_registered-12]: started with pid [21191]
process[pepper_robot/camera/depth_registered_sw_metric_rect-13]: started with pid [21197]
process[pepper_robot/camera/depth_registered_rectify_depth-14]: started with pid [21203]
process[pepper_robot/camera/points_xyzrgb_hw_registered-15]: started with pid [21208]
process[pepper_robot/camera/depth_registered_hw_metric_rect-16]: started with pid [21215]
process[pepper_robot/camera/depth_registered_metric-17]: started with pid [21217]
process[naoqi_dashboard-18]: started with pid [21226]
set prefix successfully to pepper_robot
process[tf_monitor-19]: started with pid [21235]
using ip address: 169.254.54.161 @ enx70886b8f1b7d
found a catkin prefix /home/ichikura/naoqi_ws/src/naoqi_driver/share/boot_config.json
load boot config from /home/ichikura/naoqi_ws/src/naoqi_driver/share/boot_config.json
process[naoqi_dashboard_aggregator-20]: started with pid [21238]
process[list_up_ros_node-21]: started with pid [21239]
process[speaking_program_is_started_or_terminated-22]: started with pid [21245]
no camera information found for camera_source 3 and res: 1
found a catkin URDF /home/ichikura/naoqi_ws/src/naoqi_driver/share/urdf/pepper.urdf
configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string ;; loader ;; pprint ;; process ;; hashtab ;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history ;; toplevel ;; trans ;; comp ;; builtins ;; par ;; intersection ;; geoclasses ;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport ;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda ;; helpsub ;; eushelp ;; xforeign ;; Xdecl terminate called after throwing an instance of 'qi::FutureUserException'
  what():  	ALProxy::ALProxy
	Can't find service: ROS-Driver-Audio
;; Xgraphics ;; Xcolor ;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin 
connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst ;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph gnuplotlib ___time ___pgsql irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb 
;; extending gcstack 0x55d20195c690[16374] --> 0x55d201deb480[32748] top=3d4b
irtgl irtglc irtviewer 
EusLisp 9.29( 1.2.5) for Linux64 created on ip-10-0-1-68(Tue Mar 1 05:47:01 PST 2022)
roseus ================================================================================REQUIRED process [pepper_robot-1] has died!
process has died [pid 21128, exit code -6, cmd /home/ichikura/naoqi_ws/devel/lib/naoqi_driver/naoqi_driver_node --qi-url=tcp://169.254.23.145:9559 --roscore_ip=169.254.54.161 --network_interface=enx70886b8f1b7d --namespace=pepper_robot --bootconfig_name=boot_config.json __name:=pepper_robot __log:=/home/ichikura/.ros/log/10c4dfb4-040d-11ed-88cf-287fcf9948c3/pepper_robot-1.log].
log file: /home/ichikura/.ros/log/10c4dfb4-040d-11ed-88cf-287fcf9948c3/pepper_robot-1*.log
Initiating shutdown!
================================================================================
;; loading roseus("1.7.4") on euslisp((9.29 ip-10-0-1-68 Tue Mar 1 05:47:01 PST 2022  1.2.5))
eustf [INFO] [1657869548.222032]: Connecting to NaoQi at 169.254.23.145:9559
[I] 1657869548.226547 21129 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 1657869548.226982 21129 qimessaging.transportserver: TransportServer will listen on: tcp://172.17.0.1:37867
[W] 1657869548.226983 21283 qi.path.sdklayout: No Application was created, trying to deduce paths
[I] 1657869548.227012 21129 qimessaging.transportserver: TransportServer will listen on: tcp://169.254.54.161:37867
[I] 1657869548.227059 21129 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:37867
[I] 1657869548.227069 21129 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.97.189:37867
[speaking_program_is_started_or_terminated-22] killing on exit
[list_up_ros_node-21] killing on exit
[naoqi_dashboard_aggregator-20] killing on exit
[tf_monitor-19] killing on exit
[naoqi_dashboard-18] killing on exit
[ WARN] [1657869548.266286784]: ros::roseus-sigint-handler 2
[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
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/diagnostic_common_diagnostics/tf_monitor.py", line 42, in <module>
    import roslib; roslib.load_manifest('diagnostic_common_diagnostics')
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest
    sys.path = _generate_python_path(package_name, _rospack) + sys.path
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path
    m = rospack.get_manifest(pkg)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
  File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 414, in parse_manifest_file
    _static_rosdep_view = init_rospack_interface()
  File "/usr/lib/python2.7/dist-packages/rosdep2/rospack.py", line 60, in init_rospack_interface
    lookup = _get_default_RosdepLookup(Options())
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 136, in _get_default_RosdepLookup
    verbose=options.verbose)
  File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 605, in create_default
    matcher = DataSourceMatcher.create_default(os_override=os_override)
  File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 296, in create_default
    os_name, os_version, os_codename = os_detect.detect_os()
  File "/usr/lib/python2.7/dist-packages/rospkg/os_detect.py", line 593, in detect_os
    if os_detector.is_os():
  File "/usr/lib/python2.7/dist-packages/rospkg/os_detect.py", line 525, in is_os
    return platform.system() == "Windows"
  File "/usr/lib/python2.7/platform.py", line 1321, in system
    return uname()[0]
  File "/usr/lib/python2.7/platform.py", line 1288, in uname
    processor = _syscmd_uname('-p','')
  File "/usr/lib/python2.7/platform.py", line 1019, in _syscmd_uname
    f = os.popen('uname %s 2> %s' % (option, DEV_NULL))
KeyboardInterrupt
[WARN] [1657869548.331881]: Collection LLeg not found on your robot.
[WARN] [1657869548.337842]: Collection RLeg not found on your robot.
[pepper_robot/camera/points_xyzrgb_sw_registered-12] killing on exit
[pepper_robot/camera/register_depth_front-11] killing on exit
Traceback (most recent call last):
  File "/home/ichikura/naoqi_ws/src/naoqi_dashboard/scripts/naoqi_dashboard", line 46, in <module>
    sys.exit(main.main(sys.argv, standalone=pkg))
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 65, in main
    hash(os.environ['ROS_PACKAGE_PATH'])))
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 444, in main
    app = self.create_application(argv)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 69, in create_application
    app = super(Main, self).create_application(argv)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 210, in create_application
    app = QApplication(argv)
KeyboardInterrupt
Traceback (most recent call last):
  File "/home/ichikura/naoqi_ws/src/jsk_robot/jsk_naoqi_robot/jsk_pepper_startup/nodes/list_up_ros_node.py", line 72, in <module>
    list_up_node = ListUpROSNode()
  File "/home/ichikura/naoqi_ws/src/jsk_robot/jsk_naoqi_robot/jsk_pepper_startup/nodes/list_up_ros_node.py", line 11, in __init__
    rospy.init_node("list_up_ros_node")
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/client.py", line 323, in init_node
    raise rospy.exceptions.ROSInitException("init_node interrupted before it could complete")
rospy.exceptions.ROSInitException: init_node interrupted before it could complete
[pepper_robot/camera/depth_metric-10] killing on exit
[INFO] [1657869548.497205]: nao_controller initialized
[INFO] [1657869548.499125]: nao pose_controller running...
[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
[INFO] [1657869548.676205]: Stopping pose_controller
[INFO] [1657869548.723057]: pose_controller stopped
[pepper_robot-1] killing on exit
[WARN] [1657869548.847432]: 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.
[INFO] [1657869548.870159]: nao pose_controller stopped.
shutting down processing monitor...
... shutting down processing monitor complete
done

[a-ichikura]

jsk-ros-pkg#1474 (comment)

上記の方法でnaoqi_driver.launchは立ち上がりました。

$ roslaunch naoqi_driver naoqi_driver.launch network_interface:=enx70886b8f1b7d
... logging to /home/ichikura/.ros/log/10c4dfb4-040d-11ed-88cf-287fcf9948c3/roslaunch-ichikura-ThinkPad-T495s-25762.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://169.254.54.161:37553/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    naoqi_driver (naoqi_driver/naoqi_driver_node)

ROS_MASTER_URI=http://localhost:11311

process[naoqi_driver-1]: started with pid [25780]
Receiving information about robot model
set prefix successfully to naoqi_driver
using ip address: 127.0.0.1 @ enx70886b8f1b7d
found a catkin prefix /home/ichikura/naoqi_ws/src/naoqi_driver/share/boot_config.json
load boot config from /home/ichikura/naoqi_ws/src/naoqi_driver/share/boot_config.json
no camera information found for camera_source 3 and res: 1
found a catkin URDF /home/ichikura/naoqi_ws/src/naoqi_driver/share/urdf/pepper.urdf
RightBumperPressed
LeftBumperPressed
BackBumperPressed
ROS-Driver-RightBumperPressed : Start
HandRightBackTouched
HandRightLeftTouched
HandRightRightTouched
HandLeftBackTouched
HandLeftLeftTouched
HandLeftRightTouched
ROS-Driver-HandRightBackTouched : Start
FrontTactilTouched
MiddleTactilTouched
RearTactilTouched
ROS-Driver-FrontTactilTouched : Start
ChestButtonPressed
ROS-Driver-ChestButtonPressed : 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
teleop is resetting
teleop reset
moveto is resetting
moveto reset
speech is resetting
speech reset
get_robot_config is resetting
get_robot_config reset
set_language is resetting
set_language reset
get_language is resetting
get_language reset
fade leds service is resetting
fade leds service reset
reset leds service is resetting
reset leds service reset
play audio file is resetting
play audio file reset
set volume service is resetting
set volume service reset
get volume service is resetting
get volume service reset
naoqi_driver initialized

jsk_pepper_startup.launchは立ち上がってもすぐに落ちてしまいます。

$ roslaunch jsk_pepper_startup jsk_pepper_startup.launch network_interface:=enx70886b8f1b7d launch_joy:=false
... logging to /home/ichikura/.ros/log/10c4dfb4-040d-11ed-88cf-287fcf9948c3/roslaunch-ichikura-ThinkPad-T495s-27563.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://169.254.54.161:37557/

SUMMARY
========

CLEAR PARAMETERS
 * /naoqi_dashboard_aggregator/

PARAMETERS
 * /naoqi_dashboard_aggregator/analyzers/joystick/discard_stale: True
 * /naoqi_dashboard_aggregator/analyzers/joystick/find_and_remove_prefix: joy_node
 * /naoqi_dashboard_aggregator/analyzers/joystick/path: Joystick
 * /naoqi_dashboard_aggregator/analyzers/joystick/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Camera/find_and_remove_prefix: naoqi_driver_camera
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Camera/path: Camera
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Camera/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Computer/find_and_remove_prefix: naoqi_driver_comp...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Computer/path: Computer
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Computer/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Joints/find_and_remove_prefix: naoqi_driver_joints:
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Joints/path: Joints
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Joints/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Network/find_and_remove_prefix: naoqi_driver_network
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Network/path: Network
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/Network/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/PowerSystem/find_and_remove_prefix: naoqi_driver_batt...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/PowerSystem/path: Power System
 * /naoqi_dashboard_aggregator/analyzers/naoqi/analyzers/PowerSystem/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/naoqi/path: NAOqi
 * /naoqi_dashboard_aggregator/analyzers/naoqi/type: diagnostic_aggreg...
 * /naoqi_dashboard_aggregator/analyzers/tf/find_and_remove_prefix: tf_monitor:
 * /naoqi_dashboard_aggregator/analyzers/tf/path: TF
 * /naoqi_dashboard_aggregator/analyzers/tf/type: diagnostic_aggreg...
 * /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/ichikura/na...
 * /robot/name: hop
 * /robot/type: pepper
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    list_up_ros_node (jsk_pepper_startup/list_up_ros_node.py)
    naoqi_dashboard (naoqi_dashboard/naoqi_dashboard)
    naoqi_dashboard_aggregator (diagnostic_aggregator/aggregator_node)
    pepper_robot (naoqi_driver/naoqi_driver_node)
    play_audio_stream (jsk_pepper_startup/play_audio_stream.py)
    speaking_program_is_started_or_terminated (roseus/roseus)
    tf_monitor (diagnostic_common_diagnostics/tf_monitor.py)
  /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)

ROS_MASTER_URI=http://localhost:11311

process[pepper_robot-1]: started with pid [27584]
process[pepper_robot/pose/pose_controller-2]: started with pid [27585]
process[pepper_robot/pose/pose_manager-3]: started with pid [27586]
process[pepper_robot/camera/camera_nodelet_manager-4]: started with pid [27587]
process[pepper_robot/camera/front_rectify_color-5]: started with pid [27588]
process[pepper_robot/camera/bottom_rectify_color-6]: started with pid [27589]
process[pepper_robot/camera/ir_rectify_ir-7]: started with pid [27595]
process[pepper_robot/camera/depth_rectify_depth-8]: started with pid [27601]
process[pepper_robot/camera/depth_metric_rect-9]: started with pid [27606]
process[pepper_robot/camera/depth_metric-10]: started with pid [27622]
[ INFO] [1657876438.490200961]: Initializing nodelet with 4 worker threads.
Receiving information about robot model
process[pepper_robot/camera/register_depth_front-11]: started with pid [27639]
process[pepper_robot/camera/points_xyzrgb_sw_registered-12]: started with pid [27647]
process[pepper_robot/camera/depth_registered_sw_metric_rect-13]: started with pid [27652]
process[pepper_robot/camera/depth_registered_rectify_depth-14]: started with pid [27654]
process[pepper_robot/camera/points_xyzrgb_hw_registered-15]: started with pid [27660]
process[pepper_robot/camera/depth_registered_hw_metric_rect-16]: started with pid [27671]
process[pepper_robot/camera/depth_registered_metric-17]: started with pid [27676]
process[naoqi_dashboard-18]: started with pid [27683]
process[tf_monitor-19]: started with pid [27689]
set prefix successfully to pepper_robot
process[naoqi_dashboard_aggregator-20]: started with pid [27691]
using ip address: 169.254.54.161 @ enx70886b8f1b7d
found a catkin prefix /home/ichikura/naoqi_ws/src/naoqi_driver/share/boot_config.json
load boot config from /home/ichikura/naoqi_ws/src/naoqi_driver/share/boot_config.json
process[play_audio_stream-21]: started with pid [27694]
process[list_up_ros_node-22]: started with pid [27700]
process[speaking_program_is_started_or_terminated-23]: started with pid [27702]
no camera information found for camera_source 3 and res: 1
found a catkin URDF /home/ichikura/naoqi_ws/src/naoqi_driver/share/urdf/pepper.urdf
RightBumperPressed
configuring by "/opt/ros/melodic/share/euslisp/jskeus/eus//lib/eusrt.l"
;; readmacro ;; object ;; packsym ;; common ;; constants ;; stream ;; string LeftBumperPressed
BackBumperPressed
;; loader ;; pprint ;; process ;; hashtab ROS-Driver-RightBumperPressed : Start
;; array ;; mathtran ;; eusdebug ;; eusforeign ;; extnum ;; coordinates ;; tty ;; history HandRightBackTouched
;; toplevel ;; trans HandRightLeftTouched
;; comp ;; builtins HandRightRightTouched
HandLeftBackTouched
;; par HandLeftLeftTouched
;; intersection ;; geoclasses HandLeftRightTouched
ROS-Driver-HandRightBackTouched : Start
;; geopack ;; geobody ;; primt ;; compose ;; polygon ;; viewing ;; viewport FrontTactilTouched
;; viewsurface ;; hid ;; shadow ;; bodyrel ;; dda MiddleTactilTouched
;; helpsub ;; eushelp RearTactilTouched
ROS-Driver-FrontTactilTouched : Start
;; xforeign ;; Xdecl ChestButtonPressed
ROS-Driver-ChestButtonPressed : Start
registered subscriber:	teleop
registered subscriber:	moveto
;; Xgraphics ;; Xcolor registered subscriber:	speech
nodehandle reset 
;; Xeus ;; Xevent ;; Xpanel ;; Xitem ;; Xtext ;; Xmenu ;; Xscroll ;; Xcanvas ;; Xtop ;; Xapplwin using master ip: http://169.254.54.161:11311
NOT going to re-register the converters
camera/bottom/image_raw is resetting

connected to Xserver DISPLAY=:0
X events are being asynchronously monitored.
;; pixword ;; RGBHLS ;; convolve ;; piximage ;; pbmfile ;; image_correlation ;; oglforeign ;; gldecl ;; glconst ;; glforeign ;; gluconst camera/bottom/image_raw reset
camera/depth/image_raw is resetting
;; gluforeign ;; glxconst ;; glxforeign ;; eglforeign ;; eglfunc ;; glutil ;; gltexture ;; glprim ;; gleus ;; glview ;; toiv-undefined ;; fstringdouble irtmath irtutil irtc irtgeoc irtgraph gnuplotlib ___time camera/depth/image_raw reset
/diagnostics is resetting
___pgsql /diagnostics reset
camera/front/image_raw is resetting
irtgeo euspqp pqp irtscene irtmodel irtdyna irtrobot irtsensor irtbvh irtcollada irtstl irtwrl irtpointcloud eusbullet bullet irtcollision irtx eusjpeg euspng png irtimage irtglrgb camera/front/image_raw reset
imu/base is resetting

;; extending gcstack 0x564e464de690[16374] --> 0x564e4696d490[32748] top=3d4b
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
irtgl irtglc irtviewer 
EusLisp 9.29( 1.2.5) for Linux64 created on ip-10-0-1-68(Tue Mar 1 05:47:01 PST 2022)
roseus 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
teleop is resetting
teleop reset
moveto is resetting
moveto reset
speech is resetting
;; loading roseus("1.7.4") on euslisp((9.29 ip-10-0-1-68 Tue Mar 1 05:47:01 PST 2022  1.2.5))
speech reset
get_robot_config is resetting
eustf get_robot_config reset
set_language is resetting
set_language reset
get_language is resetting
get_language reset
fade leds service is resetting
fade leds service reset
reset leds service is resetting
reset leds service reset
play audio file is resetting
play audio file reset
set volume service is resetting
set volume service reset
get volume service is resetting
get volume service reset
[INFO] [1657876439.248961]: Connecting to NaoQi at 169.254.23.145:9559
[I] 1657876439.258420 27585 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 1657876439.258869 27585 qimessaging.transportserver: TransportServer will listen on: tcp://172.17.0.1:41547
[I] 1657876439.258899 27585 qimessaging.transportserver: TransportServer will listen on: tcp://169.254.54.161:41547
[I] 1657876439.258913 27585 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:41547
[I] 1657876439.258927 27585 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.97.189:41547
[W] 1657876439.258870 27748 qi.path.sdklayout: No Application was created, trying to deduce paths
naoqi_driver initialized
roseus_c_util [WARN] [1657876439.375726]: Collection LLeg not found on your robot.
[WARN] [1657876439.379809]: Collection RLeg not found on your robot.
[INFO] [1657876439.504274]: nao_controller initialized
[INFO] [1657876439.507663]: nao pose_controller running...
[WARN] [1657876441.630183]: 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.
RosPluginProvider.load(naoqi_dashboard/NAOqiDashboard) exception raised in __builtin__.__import__(naoqi_dashboard.frame, [NAOqiDashboard]):
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/home/ichikura/naoqi_ws/devel/lib/python2.7/dist-packages/naoqi_dashboard/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 1, in <module>
  File "/home/ichikura/naoqi_ws/src/naoqi_dashboard/src/naoqi_dashboard/frame.py", line 51, in <module>
    from .avahi import AvahiWidget
  File "/home/ichikura/naoqi_ws/src/naoqi_dashboard/src/naoqi_dashboard/avahi.py", line 34, in <module>
    import dbus, gobject, dbus.glib
ImportError: No module named gobject

PluginManager._load_plugin() could not load plugin "naoqi_dashboard/NAOqiDashboard":
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/plugin_handler.py", line 102, in load
    self._load()
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/plugin_handler_direct.py", line 55, in _load
    self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui_py/ros_py_plugin_provider.py", line 61, in load
    return super(RosPyPluginProvider, self).load(plugin_id, plugin_context)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/ros_plugin_provider.py", line 90, in load
    raise e
ImportError: No module named gobject

================================================================================REQUIRED process [naoqi_dashboard-18] has died!
process has died [pid 27683, exit code 1, cmd /home/ichikura/naoqi_ws/src/naoqi_dashboard/scripts/naoqi_dashboard __name:=naoqi_dashboard __log:=/home/ichikura/.ros/log/10c4dfb4-040d-11ed-88cf-287fcf9948c3/naoqi_dashboard-18.log].
log file: /home/ichikura/.ros/log/10c4dfb4-040d-11ed-88cf-287fcf9948c3/naoqi_dashboard-18*.log
Initiating shutdown!
================================================================================
[speaking_program_is_started_or_terminated-23] killing on exit
[list_up_ros_node-22] killing on exit
[play_audio_stream-21] killing on exit
[tf_monitor-19] killing on exit
[naoqi_dashboard_aggregator-20] killing on exit
[naoqi_dashboard-18] killing on exit
[pepper_robot/camera/depth_registered_metric-17] killing on exit
[pepper_robot/camera/depth_registered_hw_metric_rect-16] killing on exit
[ WARN] [1657876442.759511886]: ros::roseus-sigint-handler 2
[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
[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] [1657876443.272336]: Stopping pose_controller
ROS-Driver-RightBumperPressed : Stop
ROS-Driver-ChestButtonPressed : Stop
ROS-Driver-HandRightBackTouched : Stop
ROS-Driver-FrontTactilTouched : Stop
[W] 1657876443.357170 27584 qitype.signal: disconnect: No subscription found for SignalLink 0.
[W] 1657876443.357170 naoqi driver is shutting down..
27609 qitype.signal: disconnect: No subscription found for SignalLink 13.
[INFO] [1657876443.369729]: pose_controller stopped
[INFO] [1657876444.005118]: nao pose_controller stopped.
shutting down processing monitor...
... shutting down processing monitor complete
done

[k-okada]

１から環境設定したら，やはり同じようなエラーがでて，
jsk-ros-pkg#1474 (comment)
と同じで以下の変更が必要でした．

src/naoqi_driver$ git diff
diff --git a/share/boot_config.json b/share/boot_config.json
index bb2d88f..cae51e5 100644
--- a/share/boot_config.json
+++ b/share/boot_config.json
@@ -72,7 +72,7 @@
     },
     "audio":
     {
-      "enabled"       : true
+      "enabled"       : false
     },
     "bumper":
     {
```
多分ドキュメントどおり環境を作ると
```
src$ wstool info
workspace: /tmp/iechikura/src

 Localname         S SCM Version (Spec)    UID  (Spec)  URI  (Spec) [http(s)://...]
 ---------         - --- --------------    -----------  ---------------------------
 pepper_robot        git master  (-)       efad3979b374 github.com/ros-naoqi/pepper_robot
 naoqi_driver        git kochigami-develop 98c0b678286a github.com/kochigami/naoqi_driver
 naoqi_dashboard     git kochigami-develop 116484fc41bf github.com/kochigami/naoqi_dashboard
 naoqi_bridge_msgs   git kochigami-develop d7417613690e github.com/kochigami/naoqi_bridge_msgs
 naoqi_bridge        git kochigami-develop c28b727e1e9b github.com/kochigami/naoqi_bridge
 nao_robot           git master  (-)       67476469a137 github.com/ros-naoqi/nao_robot
 nao_interaction     git master  (-)       f97ad12f3896 github.com/ros-naoqi/nao_interaction
 jsk_robot           git master            34f569a0490e github.com/jsk-ros-pkg/jsk_robot.git

```
となっていて， @a-ichikura  はこうなっているはずです．僕は少し古い状態なので
```
src$ wstool info
workspace: /home/k-okada/catkin_ws/ws_pepper/src

 Localname         S SCM Version (Spec)         UID  (Spec)                 URI  (Spec) [http(s)://...]
 ---------         - --- --------------         -----------                 ---------------------------
 pepper_robot        git master  (-)            efad3979b374                github.com/ros-naoqi/pepper_robot
 pepper_meshes       git master  (-)            e3bbf782b298                git@github.com:ros-naoqi/pepper_meshes.git
 naoqi_driver      C git kochigami-develop      d77dddea5ba8                github.com/kochigami/naoqi_driver
 naoqi_dashboard     git kochigami-develop      116484fc41bf                github.com/kochigami/naoqi_dashboard
 naoqi_bridge_msgs   git kochigami-develop      d7417613690e                github.com/kochigami/naoqi_bridge_msgs
 naoqi_bridge      M git kochigami-develop      57003d058d22                github.com/kochigami/naoqi_bridge
 nao_robot           git master  (-)            67476469a137                github.com/ros-naoqi/nao_robot
 nao_meshes          git master  (-)            c4daa9317c18                git@github.com:ros-naoqi/nao_meshes.git
 nao_interaction     git master  (-)            f97ad12f3896                github.com/ros-naoqi/nao_interaction
 libqicore-release   git melodic-devel  (-)     fa78dfa2b6ed                github.com/ros-naoqi/libqicore-release.git
 libqi-release       git melodic-devel  (-)     2771a10251d1                github.com/ros-naoqi/libqi-release.git
 jsk_robot         V git pepper_cross  (master) 3178fcbb697c (f4c28763a213) github.com/jsk-ros-pkg/jsk_robot.git

Also detected these repositories in the workspace, add using 'wstool scrape' or 'wstool set':

 Localname     SCM   URI  (Spec) [http(s)://...]
 ---------     ---   ---------------------------
 humanoid_msgs --git https://github.com/ahornung/humanoid_msgs
 jsk_roseus    --git git@github.com:jsk-ros-pkg/jsk_roseus.git
```
でした，今回のドキュメント通りにやっていなくて，動いている環境を持っている人がいたら，`wstool info` を教えてほしいです．

[a-ichikura]

boot_config.jsonのaudioをfalseにしてから、

Traceback (most recent call last):
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/ros_plugin_provider.py", line 80, in load
    attributes['module_name'], fromlist=[attributes['class_from_class_type']], level=0)
  File "/home/ichikura/naoqi_ws/devel/lib/python2.7/dist-packages/naoqi_dashboard/__init__.py", line 34, in <module>
    exec(__fh.read())
  File "<string>", line 1, in <module>
  File "/home/ichikura/naoqi_ws/src/naoqi_dashboard/src/naoqi_dashboard/frame.py", line 51, in <module>
    from .avahi import AvahiWidget
  File "/home/ichikura/naoqi_ws/src/naoqi_dashboard/src/naoqi_dashboard/avahi.py", line 34, in <module>
    import dbus, gobject, dbus.glib
ImportError: No module named gobject

ここの部分が原因だったので、

~/naoqi_ws/src/naoqi_dashboard/src/naoqi_dashboard/avahi.py

の中身を

from gi.repository import GObject as gobject

に変更したら
NaOのときのようなダッシュボードが立ち上がりました。
ダッシュボードの中の
enable lifeやrestも正常に動いています。

[a-ichikura]

@k-okada

docker0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        inet 172.17.0.1  netmask 255.255.0.0  broadcast 172.17.255.255
        ether 02:42:98:d8:55:47  txqueuelen 0  (イーサネット)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

enp3s0f0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
        ether f8:75:a4:4d:cd:3f  txqueuelen 1000  (イーサネット)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

enx70886b8f1b7d: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
        inet 169.254.54.161  netmask 255.255.0.0  broadcast 169.254.255.255
        inet6 fe80::98db:c9e:8b70:8f50  prefixlen 64  scopeid 0x20<link>
        ether 70:88:6b:8f:1b:7d  txqueuelen 1000  (イーサネット)
        RX packets 5776873  bytes 5943565580 (5.9 GB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 2401699  bytes 349822496 (349.8 MB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

lo: flags=73<UP,LOOPBACK,RUNNING>  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        inet6 ::1  prefixlen 128  scopeid 0x10<host>
        loop  txqueuelen 1000  (ローカルループバック)
        RX packets 1587954  bytes 3698312700 (3.6 GB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 1587954  bytes 3698312700 (3.6 GB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

ifconfigを確認してから、
http://169.254.54.161:8000/rwt_app_chooser/
にアクセスしましたが、繋がらなかったです...

[k-okada]

説明不足でした，jsk_pepper_startup は jsk-ros-pkg のものを使っているかな？ ros jsk_pepper_startup してからgit branch git remote -vで確認してもらいたいです，もしgit remote -vでk-okada が出てこなければ，

roscd jsk_pepper_startup
git remote add -p k-okada https://github.com/k-okada/jsk_robot
git fetch --all
git checkout -b pepper_cross k-okada/pepper_cross

してから，もう一度roslaunch してみてください．

NODES
  /
    list_up_ros_node (jsk_pepper_startup/list_up_ros_node.py)
    naoqi_dashboard (naoqi_dashboard/naoqi_dashboard)
    naoqi_dashboard_aggregator (diagnostic_aggregator/aggr

のところでapp_managerという文字列が見えれば，成功していそう，という感じです．

[kochigami]

• １つ目

@kochigami お時間があるときに東風上さんが使われているpythonSDKのバージョンを教えていただけると幸いです。

（なんとなく全員で統一した方が良い気がしました。）

返信が遅れて申し訳ございません。
私は，jsk-ros-pkgの方のjsk_robotのREADMEに沿って環境構築しており，2.5.5.5を使っております。

• ２つ目

kineticからmelodicに上げた際，@a-ichikura さんが指摘してくださっているように，naoqi_dashboard立ち上げ時にエラーが出ることを確認しました。対応しようと思います。=> jsk-ros-pkg#1542

• ３つ目

立ち上げ時にAudioの問題が出ること
jsk-ros-pkgの方のREADMEに追記しようと思います: jsk-ros-pkg#1537

• ４つ目

私もapp_chooserを試してみようと思います（明日）。