Issues launching nao_sim

edit

Hi Guys,

I am currently on a mission to recreate 3d navigation functionality described in the paper "Real-Time Navigation in 3D Environments Based on Depth Camera Data" by Armin Hornung et. el.

I have gone through the process of installing and validating the ROS install (Hydro), and am now trying to just get the following command to work:

roslaunch nao_bringup nao_sim.launch

When I launch the command I get the following error:

> NODES   /
>     base_footprint (nao_description/base_footprint)
>     nao_behaviors (nao_driver/nao_behaviors.py)
>     nao_controller (nao_driver/nao_controller.py)
>     nao_leds (nao_driver/nao_leds.py)
>     nao_sensors (nao_driver/nao_sensors.py)
>     nao_speech (nao_driver/nao_speech.py)
>     nao_tactile (nao_driver/nao_tactile.py)
>     nao_walker (nao_driver/nao_walker.py)
>     pose_manager (nao_pose/pose_manager.py)
>     robot_state_publisher (robot_state_publisher/state_publisher)
> 
> ROS_MASTER_URI=XXX
> 
> core service [/rosout] found
> process[robot_state_publisher-1]:
> started with pid [6401]
> process[base_footprint-2]: started
> with pid [6402]
> process[nao_sensors-3]: started with
> pid [6443] process[nao_walker-4]:
> started with pid [6444] No handlers
> could be found for logger "rosout"
> process[nao_controller-5]: started
> with pid [6449] No handlers could be
> found for logger "rosout"
> process[nao_behaviors-6]: started with
> pid [6450]
> ================================================================================REQUIRED process [nao_sensors-3] has died!
> process has died [pid 6443, exit code
> 1, cmd
> /home/vagrant/workspce/src/nao_robot/nao_driver/nodes/nao_sensors.py --pip=127.0.0.1 --pport=9559 __name:=nao_sensors __log:=/home/vagrant/.ros/log/cab0b7cc-88c4-11e3-9375-080027880ca6/nao_sensors-3.log]. log file:
> /home/vagrant/.ros/log/cab0b7cc-88c4-11e3-9375-080027880ca6/nao_sensors-3*.log
> Initiating shutdown!
> ================================================================================ cannot add process [nao_leds-7] after
> process monitor has been shut down
> [nao_behaviors-6] killing on exit
> [nao_controller-5] killing on exit 
> [nao_walker-4] killing on exit
> Traceback (most recent call last):  
> File
> "/home/vagrant/workspce/src/nao_robot/nao_driver/nodes/nao_controller.py",
> line 39, in <module>
>     import nao_msgs.msg [nao_sensors-3] killing on exit   File
> "/home/vagrant/workspce/devel/lib/python2.7/dist-packages/nao_msgs/msg/__init__.py",
> line 39, in <module> Traceback (most
> recent call last):   File
> "/home/vagrant/workspce/src/nao_robot/nao_driver/nodes/nao_behaviors.py",
> line 36, in <module>
>     import rospy   File "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/__init__.py",
> line 49, in <module>
>     from ._JointAngleTrajectory import *   File "/home/vagrant/workspce/devel/lib/python2.7/dist-packages/nao_msgs/msg/_JointAngleTrajectory.py",
> line 1, in <module>
>     """autogenerated by genpy from nao_msgs/JointAngleTrajectory.msg. Do
> not edit.""" KeyboardInterrupt
>     from .client import spin, myargv, init_node, \   File
> "/opt/ros/hydro/lib/python2.7/dist-packages/rospy/client.py",
> line 48, in <module> 
> [base_footprint-2] killing on exit
>     import rosgraph   File "/opt/ros/hydro/lib/python2.7/dist-packages/rosgraph/__init__.py",
> line 36, in <module>
>     from . masterapi import Master, MasterFailure, MasterError,
> MasterException   File
> "/opt/ros/hydro/lib/python2.7/dist-packages/rosgraph/masterapi.py",
> line 45, in <module>
>     from . names import make_caller_id   File
> "/opt/ros/hydro/lib/python2.7/dist-packages/rosgraph/names.py",
> line 39, in <module>
>     import os KeyboardInterrupt [robot_state_publisher-1] killing on
> exit

I have validated that the required packages are installed using rosdeps and roscd.

I am on ubuntu precise64, ROS hydro and pynaoqi-python-2.7-naoqi-1.14-linux64.

Any help would be appreciated!