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Update to match NAOqi 2.9 fixes in driver_helper and add warning for port to README #6

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Update to match NAOqi 2.9 fixes in driver_helper and add warning for port to README #6

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2 changes: 2 additions & 0 deletions README.md
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -117,6 +117,8 @@ for robots running NAOqi 2.9 or greater:
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password> qi_listen_url:=tcp://0.0.0.0:0
```

Warning: If you have a `connection refused error` such as [this issue](https://github.com/ros-naoqi/naoqi_driver/issues/162)
(from ROS1 driver version) when using robots running NAOqi 2.8 and greater, please try to give `nao_port:=9503` explicitly.

### From a Docker container

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278 changes: 176 additions & 102 deletions src/helpers/driver_helpers.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,8 @@
*/

#include "driver_helpers.hpp"
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>

namespace naoqi
{
Expand All @@ -24,6 +26,10 @@ namespace helpers
namespace driver
{

namespace pt = boost::property_tree;

static pt::ptree empty_ptree;

/** Function that returns the type of a robot
*/
static naoqi_bridge_msgs::msg::RobotInfo& getRobotInfoLocal( const qi::SessionPtr& session)
Expand Down Expand Up @@ -68,112 +74,180 @@ static naoqi_bridge_msgs::msg::RobotInfo& getRobotInfoLocal( const qi::SessionPt

// Get the data from RobotConfig
qi::AnyObject p_motion = session->service("ALMotion").value();
std::vector<std::vector<qi::AnyValue> > config = p_motion.call<std::vector<std::vector<qi::AnyValue> > >("getRobotConfig");

// TODO, fill with the proper string matches from http://doc.aldebaran.com/2-1/naoqi/motion/tools-general-api.html#ALMotionProxy::getRobotConfig

for (size_t i=0; i<config[0].size();++i)
{
if (config[0][i].as<std::string>() == "Model Type")
{
try{
info.model = config[1][i].as<std::string>();
}
catch(const std::exception& e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Head Version")
try
{
try{
info.head_version = config[1][i].as<std::string>();
}
catch(const std::exception& e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
std::vector<std::vector<qi::AnyValue>> config = p_motion.call<std::vector<std::vector<qi::AnyValue>>>("getRobotConfig");

// TODO, fill with the proper string matches from http://doc.aldebaran.com/2-1/naoqi/motion/tools-general-api.html#ALMotionProxy::getRobotConfig

for (size_t i = 0; i < config[0].size(); ++i)
{
if (config[0][i].as<std::string>() == "Model Type")
{
try
{
info.model = config[1][i].as<std::string>();
}
catch (const std::exception &e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Head Version")
{
try
{
info.head_version = config[1][i].as<std::string>();
}
catch (const std::exception &e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Body Version")
{
try
{
info.body_version = config[1][i].as<std::string>();
}
catch (const std::exception &e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Arm Version")
{
try
{
info.arm_version = config[1][i].as<std::string>();
}
catch (const std::exception &e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Laser")
{
try
{
info.has_laser = config[1][i].as<bool>();
}
catch (const std::exception &e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Extended Arms")
{
try
{
info.has_extended_arms = config[1][i].as<bool>();
}
catch (const std::exception &e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Number of Legs")
{
try
{
info.number_of_legs = config[1][i].as<int>();
}
catch (const std::exception &e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Number of Arms")
{
try
{
info.number_of_arms = config[1][i].as<int>();
}
catch (const std::exception &e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Number of Hands")
{
try
{
info.number_of_hands = config[1][i].as<int>();
}
catch (const std::exception &e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}
}
}

if (config[0][i].as<std::string>() == "Body Version")
{
try{
info.body_version = config[1][i].as<std::string>();
}
catch(const std::exception& e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Arm Version")
{
try{
info.arm_version = config[1][i].as<std::string>();
}
catch(const std::exception& e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Laser")
catch (...)
{
try{
info.has_laser = config[1][i].as<bool>();
}
catch(const std::exception& e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
// NAOqi 2.9
std::cout << "ALMotion.getRobotConfig failed (" /*<< e.what()*/ << "), trying with newer service ALRobotModel" << std::endl;
auto p_robot_model = session->service("ALRobotModel").value();

try
{
info.model = p_robot_model.call<std::string>("getRobotType");
}
catch (const std::exception &e)
{
std::cout << "Error getting robot type (with ALRobotModel.getRobotType): " << e.what() << std::endl;
}

try
{
info.number_of_legs = p_robot_model.call<bool>("hasLegs") ? 1 : 0;
}
catch (const std::exception &e)
{
std::cout << "Error getting robot type (with ALRobotModel.getRobotType): " << e.what() << std::endl;
}

try
{
std::istringstream config_data(p_robot_model.call<std::string>("getConfig"));
pt::ptree tree;
pt::read_xml(config_data, tree);

auto preferences = tree.get_child("ModulePreference");
for (const auto& pref: preferences) {
if (pref.first != "Preference")
continue;
const pt::ptree& attributes = pref.second.get_child("<xmlattr>", empty_ptree);

const auto& memory_key = attributes.get<std::string>("memoryName");
if (memory_key == "RobotConfig/Head/Version") {
info.head_version = attributes.get<std::string>("value");
} else if (memory_key == "RobotConfig/Body/Version") {
info.body_version = attributes.get<std::string>("value");
} else if (memory_key == "RobotConfig/Body/Device/LeftArm/Version") {
info.arm_version = attributes.get<std::string>("value");
}
}
}
catch (const std::exception &e)
{
std::cout << "Error getting head version (with ALRobotModel.getConfig): " << e.what() << std::endl;
}

// Some data is missing, but anyways only Pepper 1.8 is supported by NAOqi 2.9.
info.has_laser = false;
info.has_extended_arms = false;
info.number_of_arms = 2;
info.number_of_hands = 2;
}

if (config[0][i].as<std::string>() == "Extended Arms")
{
try{
info.has_extended_arms = config[1][i].as<bool>();
}
catch(const std::exception& e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Number of Legs")
{
try{
info.number_of_legs = config[1][i].as<int>();
}
catch(const std::exception& e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Number of Arms")
{
try{
info.number_of_arms = config[1][i].as<int>();
}
catch(const std::exception& e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

if (config[0][i].as<std::string>() == "Number of Hands")
{
try{
info.number_of_hands = config[1][i].as<int>();
}
catch(const std::exception& e)
{
std::cout << "Error in robot config variable " << (config[0][i]).as<std::string>() << std::endl;
}
}

}
return info;
}

Expand Down