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docker compose up text2speech |
Starting SIC on the Robot (NAOv6)
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| title | Notes on windows installation |
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This script sets environment variables and start the framework on the robot. However, running scripts on windows is not very simple. If you cannot execute the scripts by calling them from a powershell terminal, open them using a text editor and copy the commands into the terminal manually. Remember to adjust variables such as IP addresses |
In a new terminal, start the framework on the robot using
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cd framework/sic_framework/scripts/
sh ./start_nao.sh -r ROBOT_IP
# Windows:
.\start_nao.ps1 ROBOT_IP REDIS_IP |
Where:
ROBOT_IP is the adress of the Nao or Pepper robot
REDIS_IP the ip adress of your laptop/desktop where redis is running
Example command:
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sh ./start_nao.sh -h 192.168.0.116
# or sh ./start_pepper.sh -h 192.168.0.116
# Windows
.\start_nao.ps1 192.168.0.116 192.168.0.181 |
This should show an output like
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nao@nao:~/framework/sic_framework/devices$ python nao.py
Starting service manager on ip "192.168.0.151" with services:
- NaoqiMicrophone
- TopNaoCamera
- BottomNaoCamera
Starting service manager on ip "192.168.0.151" with services:
- NaoMotionReplayAction
- NaoMotionRecorderAction
- NaoMotionAction
- NaoMotionStreamConsumer
- NaoqiTextToSpeechAction
- NaoMotionStreamProducer
- NaoqiTabletService |
Or due to a bug with stdout:
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Starting robot (due to a bug output may or may not be produced until you start your program)
[SICSensorManager-192.168.0.151 192.168.0.151]: INFO: Manager on device 192.168.0.151 starting
[SICComponentManager-192.168.0.151 192.168.0.151]: INFO: Manager on device 192.168.0.151 starting
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| title | Manually starting the device services |
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You can also log in to the robot and start the device services in a terminal. | Code Block |
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ssh nao@ROBOT_IP
# or ssh pepper@ROBOT_IP
cd framework/sic_framework/devices
export DB_IP=REDIS_IP # replace with the ip of your computer
python nao.py
# or python pepper.py |
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Running a demo
To start a demo, for example to show pepper’s camera output on your screen, simply execute a python script with a SICApplication. Some demos are available in the docker/sicframework/sic_framework/tests folder.
Terminal
To start the camera demo from the terminal, use the following commands.
Note: This demo requires you to have the OpenCV and tqdm modules and libjpeg-turbo module installed, as well as have the framework installed on a NAO robot (see above). On Windows, moreover, the libjpeg dependency may not be automatically be found, and you may need to set the path to libturbojpeg.dll manually.
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cd framework/sic_framework/tests
python demo_nao_camera.py |
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The goal of SIC is to provide easy to use high level access to devices and services. To For example, to make a NAO robot say something, follow the startup instruction in https://socialrobotics.atlassian.net/wiki/spaces/CBSR/pages/2180415493/Install#Starting-SIC-on-the-Robot and run the following python script on your laptop.! To see more functionality check out the framework/sic_framework/tests folder!
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from sic_framework.devices import Nao
from sic_framework.devices.common_naoqi.naoqi_text_speakersto_speech import NaoqiTextToSpeech, NaoqiTextToSpeechRequest
nao_tts = NaoqiTextToSpeechNao(ip='192.168.0.236151') nao_# adjust this to the IP adress of your robot.
nao.tts.request(NaoqiTextToSpeechRequest("Hello!")) |