For connection troubles, see Connection Management Troubleshooting.
Updating the NAO system using Choregraphe may failed (may occur only if the current NAO system version is 1.12 or greater).
The error code tab is given hereafter:
| Error code | Meaning | Solution |
|---|---|---|
| 1 | Internal error. | Retry. |
| 2 | Internal error. | Retry. |
| 3 | Internal error. | Retry. |
| 4 | Unknown hardware. | Make sure the target is a real NAO robot. |
| 5 | Image does not match the target hardware. | Check the given file is an image, then retry. |
| 6 | Write error. Cannot write the image on the robot. | Check that there still is enough free space on the robot. An upgrade needs about 200MB. |
| 7 | Checksum check failed. | Check the given file, then retry. |
Choregraphe does not work with all the 3D card. If it crashes at start up, it probably means that there is a conflict with your 3D card. Please update your graphics card driver and try again. If it does not work, you will see a pop up with an Internet link to the supported graphics card. You should check it out (http://www.ogre3d.org/tikiwiki/Hardware).
Additionally, on Ubuntu, an official AMD driver is known to cause problems with Choregraphe. Its version is 13.101-0ubuntu0.0.1. The previous version, which version is 2:8.960-0ubuntu1, does not have these problems. If you want to downgrade the version of the driver, you can do the following:
sudo apt-get remove fglrx fglrx-updates fglrx-amdcccle fglrx-amdcccle-updates
sudo apt-get install fglrx=2:8.960-0ubuntu1 fglrx-amdcccle=2:8.960-0ubuntu1
To block the version of your AMD driver, you can do the following:
sudo apt-mark hold fglrx fglrx-amdcccle
You have created a behavior. It is not yet operational. Here is how you can fix the bugs. That it is only possible if the current behavior is playing.
To control a behavior you can: click on Play to load it on the robot. You can double-click on an input or output to stimulate it.
The small eye next to each layer allows you to “mute” a layer: it will be ignored when the behavior is played. This can be useful when you want to debug your behavior.
Go to the web page of the robot. The modules running on NAO are listed. You can see the details by clicking on their name.
Each time the link between 2 boxes is simulated, the color of the link changes. It is a good way to check the execution.
When a box has a value as output, the last value displays in the Tooltip.
self.logger is standard Python logger created with the Python module Logging.
The log information can be categorized by level of severity (each level has its associated font color in the debug window):
In your Python script, we recommend you to add warning, error and critical logs to inform when you behavior dangerous or erroneous state.
You can also use info and debug to trace execution flow of your behavior.
Open the script of a box.
Add the self.logger line in a function as below:
def onLoad(self):
self.logger.debug("Loaded box %s", self.getName())
In the Debug window, select the minimum level of information you want, Debug in our case.
Execute the box.
All debug message display in the debug window to let you understand what is going on. The potential debug, info, warning, error and critical messages of other functions also display as the minimum level asked is debug.
If you choose error, you see only error and critical messages.
If you get this message while launching Choregraphe, it means the application database NAOqi uses is already locked and therefore the new NAOqi launched by Choregraphe exited/disconnected unexpectedly. To ensure there is no lock, be sure to exit well all NAOqi instances or kill its processes (“killall naoqi-bin” command line under Linux/MacOSX, application manager under Windows).
In version 1.12.0 and previous ones, Choregraphe could have created temporary directories in a wrong path where the Windows Cleaning disk command hasn’t access.
Those directories, named alprojectXXXX_X, can be safely manually removed from disk.
Their most common locations depend on Windows version:
on Windows XP:
C:\Documents and settings\[username]\Local Settings\
on Windows 7:
C:\Users\[username]\AppData\Local\
Where [username] is your own user login.
There is an Ubuntu known issue, impacting Choregraphe, when using unity-2D Window Manager with the Launcher bar in auto-hide mode, or awesome Window Manager.
This bug is documented for unity-2d here: https://bugs.launchpad.net/unity-2d/+bug/987857
To avoid it, change:
If you have two screens, you can also avoid it by moving the Choregraphe window to the screen where the Launcher bar is not present.
Also, you can drag your box to the screen edge to make appear the Launcher bar, then you will be able to drop it into the Choregraphe diagram.
To check what is your window manager, just type in a shell:
echo $GDMSESSION
You are using a software such as IBus, enabling you to type Chinese or Japanese characters while having only a French keyboard.
But you want also to type French characters, and unfortunately, in Choregraphe, you obtain: ‘^o’ instead of ‘ô’.
To avoid this, you have to temporarily disable IBus when running Choregraphe.
To do so:
Set the environment variable XMODIFIERS to an empty string when you are running Choregraphe:
$ XMODIFIERS='' ./choregraphe
To get IBus functionalities back, restart Choregraphe while not modifying the XMODIFIERS variable.