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  1. INFO: naoqisim: Starting: ""/home/aayush/Desktop/nao-ros/naoqisim/controllers/naoqisim/naoqisim" 9559"
  2. [naoqisim] ===== naoqisim controller started =====
  3. [naoqisim] Press the real-time button [>] to start the simulation, then you can connect Choregraphe.
  4. [naoqisim] ===== starting alsim controller =====
  5. [naoqisim] sdkPrefix: ../../aldebaran/simulator-sdk
  6. [naoqisim] [E] 24154 posture: PostureLibrary::loadLibraryFromFile: cannot open file ""
  7. [naoqisim] [W] 24162 qimessaging.transportsocket: connect: Connection refused
  8. [naoqisim] [I] 24154 SimLauncher: Launching ../../aldebaran/simulator-sdk/bin/hal -s hal-ipc9559 -p HAL/Robot/Type:string=Nao -p HAL/Simulation:int=1 -p HAL/Time:int=0 -p HAL/CycleTime:int=0 -p DCM/Time:int=0 -p DCM/CycleTime:int=0 -p HAL/SimShmId:int=9559 -p HAL/Ack:int=0 -p HAL/Nack:int=0 -p HAL/Error:int=0
  9. [naoqisim] Shared memory with identifier 'hal-ipc' already exists. Destroying and creating the shared memory
  10. [naoqisim] [I] 24168 HAL: create sharedMemory : hal-ipc
  11. [naoqisim] [I] 24168 xmlPreference::loadPreference: Load file /home/aayush/Desktop/nao-ros/naoqisim/aldebaran/simulator-sdk/etc/hal/hal.xml
  12. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/CycleTime in module Hal, value
  13. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  14. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/Time in module Hal, value
  15. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  16. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/TargetCycleMinWait in module Hal, value
  17. [naoqisim] [I] 24168 AttrGeneric::debug: 8000
  18. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/TargetCycleTime in module Hal, value
  19. [naoqisim] [I] 24168 AttrGeneric::debug: 10
  20. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/CycleTimeWarning in module Hal, value
  21. [naoqisim] [I] 24168 AttrGeneric::debug: 50
  22. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/HeatLogPath in module Hal, value
  23. [naoqisim] [I] 24168 AttrGeneric::debug: temperatureLog
  24. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/I2Cpath in module Hal, value
  25. [naoqisim] [I] 24168 AttrGeneric::debug: /dev/i2c-0
  26. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/Realtime in module Hal, value
  27. [naoqisim] [I] 24168 AttrGeneric::debug: 1
  28. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/RealtimePriority in module Hal, value
  29. [naoqisim] [I] 24168 AttrGeneric::debug: 60
  30. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/hardnessMode in module Hal, value
  31. [naoqisim] [I] 24168 AttrGeneric::debug: current_mode
  32. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/CycleTime in module Hal, value
  33. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  34. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Time in module Hal, value
  35. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  36. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/Simulation in module Hal, value
  37. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  38. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Robot/Type in module Hal, value
  39. [naoqisim] [I] 24168 AttrGeneric::debug: Juliette
  40. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Simulation in module Hal, value
  41. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  42. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Ack in module Hal, value
  43. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  44. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Nack in module Hal, value
  45. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  46. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Error in module Hal, value
  47. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  48. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/CycleTimeErrorCounter in module Hal, value
  49. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  50. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/CycleTimeErrorLastTime in module Hal, value
  51. [naoqisim] [I] 24168 AttrGeneric::debug: 0.000000
  52. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/Error in module Hal, value
  53. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  54. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/CycleTimeErrorCounter in module Hal, value
  55. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  56. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/CycleTimeErrorLastTime in module Hal, value
  57. [naoqisim] [I] 24168 AttrGeneric::debug: 0.000000
  58. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/CycleTime in module Local, value
  59. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  60. [naoqisim] [I] 24168 ModulePreference::add: Add preference DCM/Time in module Local, value
  61. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  62. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Ack in module Local, value
  63. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  64. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/CycleTime in module Local, value
  65. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  66. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Error in module Local, value
  67. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  68. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Nack in module Local, value
  69. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  70. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/SimShmId in module Local, value
  71. [naoqisim] [I] 24168 AttrGeneric::debug: 9559
  72. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Simulation in module Local, value
  73. [naoqisim] [I] 24168 AttrGeneric::debug: 1
  74. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Time in module Local, value
  75. [naoqisim] [I] 24168 AttrGeneric::debug: 0
  76. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/Robot/Type in module Local, value
  77. [naoqisim] [I] 24168 AttrGeneric::debug: Nao
  78. [naoqisim] [I] 24168 ModulePreference::add: Add preference HAL/ShmFile in module Local, value
  79. [naoqisim] [I] 24168 AttrGeneric::debug: hal-ipc
  80. [naoqisim] [I] 24168 DeviceManager::specialIdsCase: No previous BodyId. Force BodyId from bootloader
  81. [naoqisim] [I] 24168 DeviceManager::specialIdsCase: Use BodyId from bootloader
  82. [naoqisim] [E] 24168 DeviceManager::specialIdsCase: No Module Body found
  83. [naoqisim] [1002116398] error : usb: USB device not found
  84. [naoqisim] [E] 24169 I2cThread: Unable to open /dev/i2c-head
  85. [naoqisim] [E] 24169 I2cThread: Unable to open /dev/i2c-0
  86. [naoqisim] [1002116399] warning: halthread: can't setup realtime priority for I2C
  87. [naoqisim] [E] 24168 xmlPreference::loadPreference: File Device_Local.xml not found
  88. [naoqisim] [I] 24168 xLoadBufferFromChestBoard: loading prefs from chestboard.
  89. [naoqisim] [1002116399] warning: usb: Usb::BulkWrite: error: no device
  90. [naoqisim] [1002116399] warning: usb: Usb::BulkWrite: error: no device
  91. [naoqisim] [I] 24168 xLoadBufferFromChestBoard: DCMSubPref : USB doRequest Failed
  92. [naoqisim] [I] 24168 xmlPreference::loadPreference: Load file /media/internal/DeviceHeadInternalGeode.xml
  93. [naoqisim] [W] 24168 Q7Eeprom::read: CGOS access not granted.
  94. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/FullHeadId in module Head, value
  95. [naoqisim] [I] 24168 AttrGeneric::debug: ALDT*******0000
  96. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/HeadId in module Head, value
  97. [naoqisim] [I] 24168 AttrGeneric::debug: ALDT*******0000
  98. [naoqisim] [I] 24168 InitNaoDevicesPlugin: RobotConfig/Body/Device/RightArm/Version key not found check your config
  99. [naoqisim] [I] 24168 InitNaoDevicesPlugin: UpperBody will be configured for Maxxon Motors
  100. [naoqisim] [I] 24168 InitNaoDevicesPlugin: RobotConfig/Body/Device/RightArm/Version key not found check your config
  101. [naoqisim] [I] 24168 InitNaoDevicesPlugin: UpperBody will be configured for Maxxon Motors
  102. [naoqisim] [I] 24168 InitNaoDevicesPlugin: LowerBody (legs) will be configured for Maxxon motors
  103. [naoqisim] [I] 24168 InitNaoDevicesPlugin: RobotConfig/Body/Device/RightArm/Version key not found check your config
  104. [naoqisim] [I] 24168 InitNaoDevicesPlugin: UpperBody will be configured for Maxxon Motors
  105. [naoqisim] [I] 24168 InitNaoDevicesPlugin: RobotConfig/Body/Device/RightArm/Version key not found check your config
  106. [naoqisim] [I] 24168 InitNaoDevicesPlugin: UpperBody will be configured for Maxxon Motors
  107. [naoqisim] [I] 24168 InitNaoDevicesPlugin: LowerBody (legs) will be configured for Maxxon motors
  108. [naoqisim] [I] 24168 InitNaoDevicesPlugin: Left Hand motors will use maxons thermal model
  109. [naoqisim] [I] 24168 InitNaoDevicesPlugin: Right Hand motors will use maxons thermal model
  110. [naoqisim] [I] 24168 DeviceManager::specialIdsCase: headIdKeyName : ALDT*******0000
  111. [naoqisim] [I] 24168 DeviceManager::specialIdsCase: fullHeadIdKeyName : ALDT*******0000
  112. [naoqisim] [I] 24168 DeviceManager::specialIdsCase: No previous BodyId. Force BodyId from bootloader
  113. [naoqisim] [I] 24168 DeviceManager::specialIdsCase: Use BodyId from bootloader
  114. [naoqisim] [E] 24168 DeviceManager::specialIdsCase: No BodyId from bootloader found
  115. [naoqisim] [E] 24168 TestRobotVersionPlugin: No robot version
  116. [naoqisim] [I] 24168 memberidentificationplugin: member identification on Nao
  117. [naoqisim] [I] 24168 diagnosisPlugin: Board FaceBoard added to the list
  118. [naoqisim] [I] 24168 diagnosisPlugin: Board EarLeds added to the list
  119. [naoqisim] [I] 24168 diagnosisPlugin: Board InertialSensor added to the list
  120. [naoqisim] [I] 24168 diagnosisPlugin: Board Battery added to the list
  121. [naoqisim] [I] 24168 diagnosisPlugin: Board USBoard added to the list
  122. [naoqisim] [I] 24168 diagnosisPlugin: Board ChestBoard added to the list
  123. [naoqisim] [I] 24168 diagnosisPlugin: Board HeadBoard added to the list
  124. [naoqisim] [W] 24168 diagnosisPlugin: Board HeadBoard : error 49 is only a warning, won't be logged
  125. [naoqisim] [W] 24168 diagnosisPlugin: Board HeadBoard : error 50 is only a warning, won't be logged
  126. [naoqisim] [W] 24168 diagnosisPlugin: Board HeadBoard : error 209 is only a warning, won't be logged
  127. [naoqisim] [W] 24168 diagnosisPlugin: Board HeadBoard : error 210 is only a warning, won't be logged
  128. [naoqisim] [I] 24168 diagnosisPlugin: Board LeftShoulderBoard added to the list
  129. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftShoulderBoard : error 49 is only a warning, won't be logged
  130. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftShoulderBoard : error 50 is only a warning, won't be logged
  131. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftShoulderBoard : error 209 is only a warning, won't be logged
  132. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftShoulderBoard : error 210 is only a warning, won't be logged
  133. [naoqisim] [I] 24168 diagnosisPlugin: Board LeftArmBoard added to the list
  134. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftArmBoard : error 49 is only a warning, won't be logged
  135. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftArmBoard : error 50 is only a warning, won't be logged
  136. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftArmBoard : error 209 is only a warning, won't be logged
  137. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftArmBoard : error 210 is only a warning, won't be logged
  138. [naoqisim] [I] 24168 diagnosisPlugin: Board LeftHandBoard added to the list
  139. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftHandBoard : error 49 is only a warning, won't be logged
  140. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftHandBoard : error 50 is only a warning, won't be logged
  141. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftHandBoard : error 209 is only a warning, won't be logged
  142. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftHandBoard : error 210 is only a warning, won't be logged
  143. [naoqisim] [I] 24168 diagnosisPlugin: Board RightShoulderBoard added to the list
  144. [naoqisim] [W] 24168 diagnosisPlugin: Board RightShoulderBoard : error 49 is only a warning, won't be logged
  145. [naoqisim] [W] 24168 diagnosisPlugin: Board RightShoulderBoard : error 50 is only a warning, won't be logged
  146. [naoqisim] [W] 24168 diagnosisPlugin: Board RightShoulderBoard : error 209 is only a warning, won't be logged
  147. [naoqisim] [W] 24168 diagnosisPlugin: Board RightShoulderBoard : error 210 is only a warning, won't be logged
  148. [naoqisim] [I] 24168 diagnosisPlugin: Board RightArmBoard added to the list
  149. [naoqisim] [W] 24168 diagnosisPlugin: Board RightArmBoard : error 49 is only a warning, won't be logged
  150. [naoqisim] [W] 24168 diagnosisPlugin: Board RightArmBoard : error 50 is only a warning, won't be logged
  151. [naoqisim] [W] 24168 diagnosisPlugin: Board RightArmBoard : error 209 is only a warning, won't be logged
  152. [naoqisim] [W] 24168 diagnosisPlugin: Board RightArmBoard : error 210 is only a warning, won't be logged
  153. [naoqisim] [I] 24168 diagnosisPlugin: Board RightHandBoard added to the list
  154. [naoqisim] [W] 24168 diagnosisPlugin: Board RightHandBoard : error 49 is only a warning, won't be logged
  155. [naoqisim] [W] 24168 diagnosisPlugin: Board RightHandBoard : error 50 is only a warning, won't be logged
  156. [naoqisim] [W] 24168 diagnosisPlugin: Board RightHandBoard : error 209 is only a warning, won't be logged
  157. [naoqisim] [W] 24168 diagnosisPlugin: Board RightHandBoard : error 210 is only a warning, won't be logged
  158. [naoqisim] [I] 24168 diagnosisPlugin: Board RightHipBoard added to the list
  159. [naoqisim] [W] 24168 diagnosisPlugin: Board RightHipBoard : error 49 is only a warning, won't be logged
  160. [naoqisim] [W] 24168 diagnosisPlugin: Board RightHipBoard : error 50 is only a warning, won't be logged
  161. [naoqisim] [W] 24168 diagnosisPlugin: Board RightHipBoard : error 209 is only a warning, won't be logged
  162. [naoqisim] [W] 24168 diagnosisPlugin: Board RightHipBoard : error 210 is only a warning, won't be logged
  163. [naoqisim] [I] 24168 diagnosisPlugin: Board RightThighBoard added to the list
  164. [naoqisim] [W] 24168 diagnosisPlugin: Board RightThighBoard : error 49 is only a warning, won't be logged
  165. [naoqisim] [W] 24168 diagnosisPlugin: Board RightThighBoard : error 50 is only a warning, won't be logged
  166. [naoqisim] [W] 24168 diagnosisPlugin: Board RightThighBoard : error 209 is only a warning, won't be logged
  167. [naoqisim] [W] 24168 diagnosisPlugin: Board RightThighBoard : error 210 is only a warning, won't be logged
  168. [naoqisim] [I] 24168 diagnosisPlugin: Board RightShinBoard added to the list
  169. [naoqisim] [W] 24168 diagnosisPlugin: Board RightShinBoard : error 49 is only a warning, won't be logged
  170. [naoqisim] [W] 24168 diagnosisPlugin: Board RightShinBoard : error 50 is only a warning, won't be logged
  171. [naoqisim] [W] 24168 diagnosisPlugin: Board RightShinBoard : error 209 is only a warning, won't be logged
  172. [naoqisim] [W] 24168 diagnosisPlugin: Board RightShinBoard : error 210 is only a warning, won't be logged
  173. [naoqisim] [I] 24168 diagnosisPlugin: Board LeftHipBoard added to the list
  174. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftHipBoard : error 49 is only a warning, won't be logged
  175. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftHipBoard : error 50 is only a warning, won't be logged
  176. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftHipBoard : error 209 is only a warning, won't be logged
  177. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftHipBoard : error 210 is only a warning, won't be logged
  178. [naoqisim] [I] 24168 diagnosisPlugin: Board LeftThighBoard added to the list
  179. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftThighBoard : error 49 is only a warning, won't be logged
  180. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftThighBoard : error 50 is only a warning, won't be logged
  181. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftThighBoard : error 209 is only a warning, won't be logged
  182. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftThighBoard : error 210 is only a warning, won't be logged
  183. [naoqisim] [I] 24168 diagnosisPlugin: Board LeftShinBoard added to the list
  184. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftShinBoard : error 49 is only a warning, won't be logged
  185. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftShinBoard : error 50 is only a warning, won't be logged
  186. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftShinBoard : error 209 is only a warning, won't be logged
  187. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftShinBoard : error 210 is only a warning, won't be logged
  188. [naoqisim] [I] 24168 diagnosisPlugin: Board LeftFootBoard added to the list
  189. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftFootBoard : error 49 is only a warning, won't be logged
  190. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftFootBoard : error 50 is only a warning, won't be logged
  191. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftFootBoard : error 209 is only a warning, won't be logged
  192. [naoqisim] [W] 24168 diagnosisPlugin: Board LeftFootBoard : error 210 is only a warning, won't be logged
  193. [naoqisim] [I] 24168 diagnosisPlugin: Board RightFootBoard added to the list
  194. [naoqisim] [W] 24168 diagnosisPlugin: Board RightFootBoard : error 49 is only a warning, won't be logged
  195. [naoqisim] [W] 24168 diagnosisPlugin: Board RightFootBoard : error 50 is only a warning, won't be logged
  196. [naoqisim] [W] 24168 diagnosisPlugin: Board RightFootBoard : error 209 is only a warning, won't be logged
  197. [naoqisim] [W] 24168 diagnosisPlugin: Board RightFootBoard : error 210 is only a warning, won't be logged
  198. [naoqisim] [I] 24168 diagnosisPlugin: Board TouchBoard added to the list
  199. [naoqisim] [W] 24168 diagnosisPlugin: Board Chest-Eeprom-80 : no log will be displayed
  200. [naoqisim] [W] 24168 diagnosisPlugin: Board Chest-Eeprom-81 : no log will be displayed
  201. [naoqisim] [I] 24168 diagnosisPlugin: Found 22 boards to log
  202. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/HeadId in module Local, value
  203. [naoqisim] [I] 24168 AttrGeneric::debug: 0000
  204. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/Device/Camera/Version in module Local, value
  205. [naoqisim] [I] 24168 AttrGeneric::debug: 2
  206. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/BaseVersion in module Local, value
  207. [naoqisim] [I] 24168 AttrGeneric::debug: V5.0
  208. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/Device/TouchBoard/Version in module Local, value
  209. [naoqisim] [I] 24168 AttrGeneric::debug: 1
  210. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/Device/FaceBoard/Leds/Rotation in module Local, value
  211. [naoqisim] [I] 24168 AttrGeneric::debug: 1
  212. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/BaseVersion in module Local, value
  213. [naoqisim] [I] 24168 AttrGeneric::debug: V5.0
  214. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/Device/Hand/Left/Version in module Local, value
  215. [naoqisim] [I] 24168 AttrGeneric::debug: 7
  216. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/Device/Hand/Right/Version in module Local, value
  217. [naoqisim] [I] 24168 AttrGeneric::debug: 7
  218. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/Device/Foot/Version in module Local, value
  219. [naoqisim] [I] 24168 AttrGeneric::debug: 3
  220. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/Device/Legs/Version in module Local, value
  221. [naoqisim] [I] 24168 AttrGeneric::debug: 7
  222. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/Device/LeftArm/Version in module Local, value
  223. [naoqisim] [I] 24168 AttrGeneric::debug: 3
  224. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/Device/RightArm/Version in module Local, value
  225. [naoqisim] [I] 24168 AttrGeneric::debug: 3
  226. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/Version in module Local, value
  227. [naoqisim] [I] 24168 AttrGeneric::debug: 5.0.0
  228. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/Version in module Local, value
  229. [naoqisim] [I] 24168 AttrGeneric::debug: 5.0.0
  230. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/Type in module Local, value
  231. [naoqisim] [I] 24168 AttrGeneric::debug: Nao
  232. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Body/SoftwareRequirement in module Local, value
  233. [naoqisim] [I] 24168 AttrGeneric::debug: 1.22.4
  234. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/Type in module Local, value
  235. [naoqisim] [I] 24168 AttrGeneric::debug: Nao
  236. [naoqisim] [I] 24168 ModulePreference::add: Add preference Device/DeviceList/ChestBoard/BodyNickName in module Local, value
  237. [naoqisim] [I] 24168 AttrGeneric::debug: Nao0000
  238. [naoqisim] [I] 24168 ModulePreference::add: Add preference Device/DeviceList/ChestBoard/BodyId in module Local, value
  239. [naoqisim] [I] 24168 AttrGeneric::debug: 00000ALDR1008E000000
  240. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/Color in module Local, value
  241. [naoqisim] [I] 24168 AttrGeneric::debug: RedP185C
  242. [naoqisim] [I] 24168 ModulePreference::add: Add preference RobotConfig/Head/Device/Micro/Version in module Local, value
  243. [naoqisim] [I] 24168 AttrGeneric::debug: 2
  244. [naoqisim] [E] 24168 SimulationPlugin: SubDevice not found RHipYawPitch/Position/Sensor
  245. [naoqisim] [E] 24168 SimulationPlugin: SubDevice not found RHipYawPitch/Position/Actuator
  246. [naoqisim] [1002116402] warning: halthread: can't setup realtime priority
  247. [naoqisim] [I] 24168 DcmLostPlugin: Stiffness set to 0 due to DCM missing -- Leg
  248. [naoqisim] [I] 24168 DcmLostPlugin: Stiffness set to 0 due to DCM missing -- Wheels
  249. [naoqisim] [W] 24168 DcmLostPlugin: HAL stiffness decrease : HAL error set to 16
  250. [naoqisim] [W] 24161 qimessaging.transportsocket: connect: Connection refused
  251. [naoqisim] [W] 24158 qimessaging.transportsocket: connect: Connection refused
  252. [naoqisim] [I] 24154 SimLauncher: Launching ../../aldebaran/simulator-sdk/bin/naoqi-bin -p 9559 --writable-path /tmp/SimLauncherRLA2Qjn
  253. [naoqisim] [I] 24323 core.naoqi: ..::: starting NAOqi version 2.1.4 :::..
  254. [naoqisim] [I] 24323 core.naoqi: Copyright (c) 2005-2013, Aldebaran Robotics
  255. [naoqisim] [I] 24323 core.naoqi: Build tag: jenkins-release-2.1_simulator-sdk_linux64-13
  256. [naoqisim] [I] 24323 qimessaging.servicedirectory: ServiceDirectory listener created on tcp://0.0.0.0:9559
  257. [naoqisim] [I] 24323 qimessaging.transportserver: TransportServer will listen on: tcp://172.17.0.1:9559
  258. [naoqisim] [I] 24323 qimessaging.transportserver: TransportServer will listen on: tcp://172.18.33.131:9559
  259. [naoqisim] [I] 24323 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:9559
  260. [naoqisim] [I] 24323 qimessaging.transportserver: TransportServer will listen on: tcp://10.42.0.1:9559
  261. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ServiceDirectory" (#1)
  262. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "LogManager" (#2)
  263. [naoqisim] [I] 24323 core.lib.launcher: Loading "/home/aayush/Desktop/nao-ros/naoqisim/aldebaran/simulator-sdk/etc/naoqi/autoload.ini"
  264. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALFileManager" (#3)
  265. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALMemory" (#4)
  266. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALLogger" (#5)
  267. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALPreferences" (#6)
  268. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALLauncher" (#7)
  269. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALBonjour" (#8)
  270. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALServiceManager" (#9)
  271. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALDebug" (#10)
  272. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALPreferenceManager" (#11)
  273. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "DCM" (#12)
  274. [naoqisim] [I] 24326 DCM.Thread: DcmThread connect to sharedMemory : hal-ipc
  275. [naoqisim] @@@@ Use relative clock @@@@
  276. [naoqisim] [W] 24168 DcmLostPlugin: HAL stiffness decrease ended : HAL error back to 0 due to DCM start
  277. [naoqisim] [W] 24168 ClientSyncPlugin: DCM detected
  278. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALNotificationManager" (#13)
  279. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALResourceManager" (#14)
  280. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALRobotModel" (#15)
  281. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALSonar" (#16)
  282. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALFsr" (#17)
  283. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALSensors" (#18)
  284. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALBodyTemperature" (#19)
  285. [naoqisim] [W] 24323 ALMotion.ALMotionConfigurator: DIAGNOSTIC_IS_OK: 1
  286. [naoqisim] [W] 24323 ALMotion.ALMotionConfigurator: ENABLE_FOOT_CONTACT_PROTECTION: 1
  287. [naoqisim] [W] 24323 ALMotion.ALMotionConfigurator: ENABLE_STIFFNESS_PROTECTION: 1
  288. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALMotion" (#20)
  289. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALTouch" (#21)
  290. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALRobotPosture" (#22)
  291. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALRedBallTracker" (#23)
  292. [naoqisim] [W] 24323 motion.balltracker: ALRedBallTracker is deprecated in version 1.16. Please use the module ALTracker instead.
  293. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALMotionRecorder" (#24)
  294. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALLeds" (#25)
  295. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALWorldRepresentation" (#26)
  296. [naoqisim] [W] 24323 packagemanager.sql.compat: Cannot check column install_time in packages
  297. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "PackageManager" (#27)
  298. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALUserSession" (#28)
  299. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALAudioPlayer" (#29)
  300. [naoqisim] [W] 24323 altts: Could not find plugin: aitalk
  301. [naoqisim] [W] 24323 altts: Could not find plugin: acapela
  302. [naoqisim] [W] 24323 altts: Could not find plugin: nuance
  303. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALTextToSpeech" (#30)
  304. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALBattery" (#31)
  305. [naoqisim] [E] 24323 behavior.ALFrameManager: ALPreferenceManager.getValue did not return a string, but returned:
  306. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALFrameManager" (#32)
  307. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALPythonBridge" (#33)
  308. [naoqisim] [I] 24168 DcmLostPlugin: End decrease stiffness
  309. [naoqisim] [I] 24323 python: ALPythonBridge: using naoqi from /home/aayush/Desktop/nao-ros/naoqisim/aldebaran/simulator-sdk/lib/naoqi.pyc
  310. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALVideoDevice" (#34)
  311. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALRedBallDetection" (#35)
  312. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALBehaviorManager" (#36)
  313. [naoqisim] [W] 24323 audio.altexttospeech.main: enableNotifications() is now deprecated.
  314. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALAnimatedSpeech" (#37)
  315. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALColorBlobDetection" (#38)
  316. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALVisualSpaceHistory" (#39)
  317. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALTracker" (#55)
  318. [naoqisim] [W] 24334 audio.DeviceManager: Could not find plugin:
  319. [naoqisim] [E] 24334 audio.DeviceManager: no suitable plugin found
  320. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALModularity" (#56)
  321. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALNavigation" (#57)
  322. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALMovementDetection" (#58)
  323. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALSegmentation3D" (#59)
  324. [naoqisim] [E] 24323 modularity.private: Can't set data for source "FaceDetection_Status": source unknown.
  325. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALPeoplePerception" (#60)
  326. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALSittingPeopleDetection" (#61)
  327. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALEngagementZones" (#62)
  328. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALGazeAnalysis" (#63)
  329. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALWavingDetection" (#64)
  330. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALCloseObjectDetection" (#65)
  331. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALFastPersonTracking" (#66)
  332. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALFindPersonHead" (#67)
  333. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALVisualCompass" (#68)
  334. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALLocalization" (#69)
  335. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALPanoramaCompass" (#70)
  336. [naoqisim] Webots cameras enabled.
  337. [naoqisim] Add the '-nocam' option in 'controllerArgs' to disable the cameras and increase the simulator performance.
  338. [naoqisim] simulator-sdk max camera resolution: CameraBottom: 1280x960
  339. [naoqisim] Webots camera resolution: CameraBottom: 160x120
  340. [naoqisim] simulator-sdk max camera resolution: CameraTop: 1280x960
  341. [naoqisim] Webots camera resolution: CameraTop: 160x120
  342. [naoqisim] [E] 24323 Thinking: Error occurred during thinking while getting info of animation package animations:
  343. [naoqisim] Package animations does not exist in database.
  344. [naoqisim] [E] 24323 UserSessionManager: Could not connect to either UserSession, BasicAwareness, or PeoplePerception. UserSessionManager will be inactive.
  345. [naoqisim] [W] 24323 AutonomousLife: ALAutonomousMoves has not been found. Will not affect Autonomous Life.
  346. [naoqisim] [W] 24323 AutonomousLife: ALBasicAwareness has not been found. Will run without advanced tracking and automatic user session.
  347. [naoqisim] [W] 24323 AutonomousLife: ALDiagnosis has not been found. May not be able to properly enter safeguard state
  348. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALAutonomousLife" (#77)
  349. [naoqisim] [I] 24323 Dialog: Starting Dialog ...
  350. [naoqisim] [W] 24323 Dialog: ALSpeechRecognition has not been found. Will run without voice recognition.
  351. [naoqisim] [I] 24323 Dialog: Dialog will run in mode simulated
  352. [naoqisim] [W] 24323 Dialog: AI client Module not found
  353. [naoqisim] [I] 24323 Dialog.LongTermMemory: User database creation succeed
  354. [naoqisim] [I] 24323 Dialog.preference: No dialog history management
  355. [naoqisim] [I] 24323 Dialog.preference: AI system enabled
  356. [naoqisim] [I] 24323 Dialog.preference: BNF confidence 0.5
  357. [naoqisim] [I] 24323 Dialog.preference: REMOTE confidence 0.3
  358. [naoqisim] [I] 24323 Dialog.preference: Serialization enabled
  359. [naoqisim] [I] 24323 Dialog.preference: Upper SLM 1
  360. [naoqisim] [I] 24323 Dialog.preference: Enable auto update
  361. [naoqisim] [I] 24323 Dialog.preference: Push mode 2
  362. [naoqisim] [I] 24323 Dialog.preference: Enable full speech recognition
  363. [naoqisim] [I] 24323 Dialog.preference: Audio expression enabled
  364. [naoqisim] [I] 24323 Dialog.preference: Smalldisplacement enabled
  365. [naoqisim] [I] 24323 Dialog.preference: Breath enabled
  366. [naoqisim] [I] 24323 Dialog.preference: No animated speech configuration
  367. [naoqisim] [I] 24323 Dialog.preference: Default volume 0
  368. [naoqisim] [I] 24323 Dialog.preference: No dialog history management
  369. [naoqisim] [I] 24323 Dialog.preference: AI system enabled
  370. [naoqisim] [I] 24323 Dialog.preference: BNF confidence 0.5
  371. [naoqisim] [I] 24323 Dialog.preference: REMOTE confidence 0.3
  372. [naoqisim] [I] 24323 Dialog.preference: Serialization enabled
  373. [naoqisim] [I] 24323 Dialog.preference: Upper SLM 1
  374. [naoqisim] [I] 24323 Dialog.preference: Enable auto update
  375. [naoqisim] [I] 24323 Dialog.preference: Push mode 2
  376. [naoqisim] [I] 24323 Dialog.preference: Enable full speech recognition
  377. [naoqisim] [I] 24323 Dialog.preference: Audio expression enabled
  378. [naoqisim] [I] 24323 Dialog.preference: Smalldisplacement enabled
  379. [naoqisim] [I] 24323 Dialog.preference: Breath enabled
  380. [naoqisim] [I] 24323 Dialog.preference: No animated speech configuration
  381. [naoqisim] [I] 24323 Dialog.preference: Default volume 0
  382. [naoqisim] [I] 24323 qimessaging.servicedirectory: Registered Service "ALDialog" (#78)
  383. [naoqisim] [I] 24323 core.naoqi: NAOqi is ready...
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