Errors when using package

Error importing NaoQI. Please make sure that Aldebaran's NaoQI API is in your PYTHONPATH.

nao_walker or nao_sensors complain that they could not import NaoQI and exit.

Solution: The Python nodes assume that you have added Aldebaran's Python API to your PYTHONPATH environment variable to import them. Make sure that the subfolder lib in the Aldebaran SDK package is in your PYTHONPATH.

Also make sure you are using a 32-bit environment to match Aldebaran's compiling environments (it won't work on ubuntu 64-bit for instance).

Version 1.12 of NaoQI may also require the library to be in your LD_LIBRARY_PATH, see this question

Error: "Connection refused" / Could not create Proxy to ...

nao_walker or nao_sensors complain that they could not create a proxy e.g. to ALMotion or ALMemory and exit. Aldebaran's NaoQI might output more error messages to the console:

Example:

•  SOAP 1.1 fault: SOAP-ENV:Client [no subcode]
  "Connection refused"
  Detail: connect failed in tcp_connect()
  [ERROR] 1276074679.650960: Could not create Proxy to ALMotion or ALMemory, exiting.
  Exception message:
  modulename: 'ALNetwork'
  method: 'getModuleByName'
  desc: 'failed to get module ALMotion http://127.0.0.1:9559'
  from file: /home/opennao/work/aldebaran-sdk/src/naoqi/src/lib/alcommon/src/alnetwork.cpp:943

Solution:

• No connection to a running NaoQI could be established, or it does not run the requested module. Make sure that the IP and port are correct, and a NaoQI is running at that address (e.g. using the Nao's webinterface).

Error 28 fault: SOAP-ENV:Server [no subcode] / "Address already in use"

Starting the nao_driver.launch file with nao_walker, nao_sensors, and nao_controller directly exits because one of the nodes quits immediately ('Port not free. Another broker is using this port.')

Example:

• Error 28 fault: SOAP-ENV:Server [no subcode]
  "Address already in use"
  Detail: bind failed in soap_bind()
  [ERROR] [WallTime: 1323785545.107222] Could not create Proxy to "ALMotion". 
  Exception message:
  modulename: 'ALBroker' method: 'runBroker'
  Desc: 'Port not free. Another broker is using this port.'
  from file: /home/opennao/release-1.10/releases/src/naoqi/src/lib/alcommon/alcommon/alnetwork.cpp:1253
  Error -1 fault: SOAP-ENV:Client [no subcode]
  "End of file or no input: Operation interrupted or timed out"
  Detail: [no detail]

Solution:

• There appears to be a race condition in NaoQI proxy creation. Just try restarting the complete launch file, it will usually work then.