Internal:Nao Demo 2

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(Created page with '=Running the Nao Teleop Demo= The teleop demo provides direct kinesthetic control over both arms and the head. ==Prerequisites== The two bots expect to connect to a roscore on m…')
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# log into each bot: <br/> <code>ssh root@thing1.dyndns.org</code> (no password) <br/> <code>ssh nao@thing2.dyndns.org</code> (password is also nao)
# log into each bot: <br/> <code>ssh root@thing1.dyndns.org</code> (no password) <br/> <code>ssh nao@thing2.dyndns.org</code> (password is also nao)
# start eyes and grab.py on thing1: <br/> <code>cd naoros; cd run; source envConfig; ./eyes &</code> <br/> <code>python grab.py</code>
# start eyes and grab.py on thing1: <br/> <code>cd naoros; cd run; source envConfig; ./eyes &</code> <br/> <code>python grab.py</code>
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# start arm.py on thing2: <br/> <code>cd naoros; cd run; source envConfig; python remote.py</code> <br/> ''Thing1 will now attempt to mirror thing2. Beware obstacles that might prevent this, including self-intersections.''
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# start remote.py on thing2: <br/> <code>cd naoros; cd run; source envConfig; python remote.py</code> <br/> ''Thing1 will now attempt to mirror thing2. Beware obstacles that might prevent this, including self-intersections.''
==Starting the client nodes==
==Starting the client nodes==

Current revision as of 18:52, 9 July 2010

Contents

Running the Nao Teleop Demo

The teleop demo provides direct kinesthetic control over both arms and the head.

Prerequisites

The two bots expect to connect to a roscore on maria (192.168.0.1) on port 1234. If you cannot launch such a core, it is probably because one is already running. It should be fine to use the pre-running core.

Starting the Bots

  1. Turn each bot on
  2. wait until you can ping them:
    ping thing1.dyndns.org
    ping thing2.dyndns.org
  3. log into each bot:
    ssh root@thing1.dyndns.org (no password)
    ssh nao@thing2.dyndns.org (password is also nao)
  4. start eyes and grab.py on thing1:
    cd naoros; cd run; source envConfig; ./eyes &
    python grab.py
  5. start remote.py on thing2:
    cd naoros; cd run; source envConfig; python remote.py
    Thing1 will now attempt to mirror thing2. Beware obstacles that might prevent this, including self-intersections.

Starting the client nodes

on maria

  1. rosrun NaoImageTransport NaoImageTransport;
    /naocam/image is now ready to be visualized (currently I use cmvision)

Controls

  • The robot's lower body will lock in place when you start up remote.py so make sure it is in a comfortable position for teleoperating and pushing the foot bumpers.
  • The wrist is controlled by the front and rear head buttons. Sometimes you may need to help the wrist of thing2 by physically turning it.
  • The wrists of the bots tend to seize in general. You may have to physically turn thing1's wrist to free it up and allow it to properly mirror thing2.
  • The hand is opened/closed by the middle head button. No other controls will respond while the hand opens/closes and there is a delay of a few seconds between thing2 closing/opening its hand and thing1 doing the same.
  • Each arm can be locked in place using the respective foot bumper. Sometimes you need to hold it for a second. Locking an arm in place, switches the active control of the hand and wrist to the other arm. Unfreeze the arm by pressing the bumper again.

Troubleshooting

  • If you can't ssh to the robot using it's dns name, try ssh-ing using its ip address. This can be obtained verbally from the robot by pressing its chest button.
  • If one of the ros nodes on the robots crashes on startup with a message about being unable to initialize a ros node, this is probably a failure of the dns name. Try setting the ROS_IP on the robot to the robot's ip address, e.g.
    export ROS_IP=192.168.0.119
This page was last modified on 9 July 2010, at 18:52. This page has been accessed 23 times.