After a long break I managed to retrieve my Nao V5 I call Ami. When I came to it the battery pack would not charge, claiming it was full. The robot would not turn on. Fortunately after trying a number of times, 4 I think, it finally slowly came to life. Now it will take a charge and it is now running for about an hour on the battery – phew!
There are a few on line comments about it – https://robohack.org.uk/viewtopic.php?f=5&t=69&fbclid=IwAR15LnL_Z3vzEFYQCJL4Xx8FupMXZ3JwR8EjTYxjBfzRsVnUiRC8DE1GcC8 or https://www.bartneck.de/2021/02/03/repair-of-broken-nao-robot-battery-pack/
Chorographe
The Nao V5 is not supported by Softbank anymore. But the Chorographe 2.1.4 can be downloaded here : https://support.unitedrobotics.group/en/support/solutions/articles/80001033994-nao-v4-v5-naoqi-2-1-4-13-
On my Ubuntu 22.04 machine. I downloaded the .run file for linux. Then chmod +x file_name followed by sudo ./filename to install it. Dont forget the licence number is : 562a-750a-252e-143c-0f2a-4550-505e-4f40-5f48-504c
It didnt work on my Ubuntu 22.04 machine. But it works well on Ubuntu 16.04
Naoqi_bridge
The Aldebaran web site still has the naoqi 2.1.4 SDKs up https://www.aldebaran.com/en/support/nao-6/downloads-softwares/former-versions?os=49&category=76. But I am not sure how long they will maintain that. To connect to the Nao with Ros Kinetic I use naoqi_bridge – http://wiki.ros.org/nao/Tutorials/Installation
VoiceRecognition
I am running Python 2.7 so I am limited in the voice recognition libraries I have available.
I started with SpeechRecognition, not the latest version but version 3.8.1, the last ne to support Python 2.7 http://pip install SpeechRecognition==3.8.1
To fulfil the requirements I installed PyAudio but version 0.2.11 (pip install PyAudio==0.2.11). At first that failed with a portaudio.h file not found error. I fixed that with sudo apt-get install portaudio19-dev python-pyaudio. From https://stackoverflow.com/questions/48690984/portaudio-h-no-such-file-or-directory
Installing these packages I was running into problems with pip. Fixed with pip install –upgrade “pip < 21.0”.
When trying to install pocketsphinx I ran into similar problems. I had to install swig (sudo apt-get install swig) also I had to install – sudo apt-get install libpulse-dev.
ZeroMQ
I had become fixated on using ROS to communicate with the Nao. But my friend Graham suggested I use ZeroMq, a lot simpler than trying to get Naoqi-bridge to work.
I am running Python 2.7 ZeroMQ on my Ubuntu 16.04 machine (I call it Ami) , with Chreographe 2.14 and Python 3.10 ZeroMQ on my Ubuntu 22.04 machine (I call it spot_main).
Initially I had trouble resolving Ami (Ubuntu 16.04) from spot_main (Ubuntu 22.04). But following the post at https://askubuntu.com/questions/144636/why-do-none-of-my-local-servers-resolve I
edit the /etc/nsswitch.conf file.
cat /etc/nsswitch.conf
...
#hosts: files mdns4_minimal [NOTFOUND=return] dns mdns4
hosts: files mdns4_minimal dns [NOTFOUND=return] mdns4
It worked!
Audio streaming from Nao
ahttps://stackoverflow.com/questions/24243757/nao-robot-remote-audio-problems
Adventures with Ami 