naoqi-driver connection drops and freezes every few minutes

[StefanWa]

After driving around with the Pepper robot for a few minutes, the connection drops (no laser or transform data available anymore) with the following debug output:

[DEBUG] [1519656001.875569556]: Connection::drop(2)
[DEBUG] [1519656001.875819948]: Connection::drop(2)
[DEBUG] [1519656001.875915998]: Connection::drop(2)
[DEBUG] [1519656001.908966696]: Socket 15 closed with (ERR|HUP|NVAL) events 24: Broken pipe
[DEBUG] [1519656001.909154913]: TCP socket [15] closed
[DEBUG] [1519656001.909259442]: Connection::drop(0)
[DEBUG] [1519656001.909414087]: Connection to subscriber [callerid=[/move_base] address=[TCPROS connection on port 45687 to [10.10.130.39:45838 on socket 15]]] to topic [/tf] dropped
[DEBUG] [1519656001.909516112]: Connection::drop(2)
[DEBUG] [1519656001.909630790]: Connection::drop(2)
[DEBUG] [1519656001.914136320]: Socket 20 closed with (ERR|HUP|NVAL) events 24: Broken pipe
[DEBUG] [1519656001.914393067]: TCP socket [20] closed
[DEBUG] [1519656001.914448702]: Connection::drop(0)
[DEBUG] [1519656001.914502924]: Connection to subscriber [callerid=[/move_base] address=[TCPROS connection on port 45687 to [10.10.130.39:46554 on socket 20]]] to topic [/naoqi_driver_node/laser] dropped
[DEBUG] [1519656001.914543178]: Connection::drop(2)
[DEBUG] [1519656001.914599753]: Connection::drop(2)

If this happens and I want to close down the node I get the following message:

^C[naoqi_driver-1] killing on exit
[naoqi_driver-1] escalating to SIGTERM
[naoqi_driver-1] escalating to SIGKILL
Shutdown errors:
 * process[naoqi_driver-1, pid 2327]: required SIGKILL. May still be running

From the first output it is clear that this is a network issue, perhaps because the robot is switching access points?
Is there any way to resolve this problem or to be able to recover more gracefully from the issue?

[kochigami]

Hello,
I'd like to know more information below:

• command (like roslaunch naoqi_driver naoqi_driver.launch ...)
• where the command is executed (like ~/catkin_ws/src)
• whether your naoqi_driver/ naoqi_bridge_msgs is source or deb (If it is deb, could you tell me the version?)
• ros version
• ubuntu version

Personally, I have never seen this kind of error and I don't know how to solve it.
However, how about connecting your Pepper and your PC directly?
There is some information how to set PC2NAO (Local-Link an alternative to DHCP).
http://doc.aldebaran.com/2-1/nao/connectivity.html
If it works, I think the possibility of the network issue increases.

[StefanWa]

• The command is roslaunch naoqi-bridge.launch with the following contents:

<launch>
    <arg name="nao_ip"              default="10.10.130.99"/>
    <arg name="nao_port"            default="9559"/>
    <arg name="roscore_ip"          default="10.10.130.39"/>
    <arg name="network_interface"   default="wlp2s0"/>

    <node
        pkg="naoqi_driver"
        type="naoqi_driver_node"
        name="naoqi_driver"
        required="true"
        args="--qi-url=tcp://$(arg nao_ip):$(arg nao_port) --roscore_ip=$(arg roscore_ip) --network_interface=$(arg network_interface)"
    >
    </node>
</launch>

• The command is executed in ~/coding/thesis/ros-workspace/launch.

• naoqi_driver is deb and version 0.5.9-0xenial-20180125-135124-0800

• ROS version is 1.12.12

• Ubuntu version is 16.04 Xenial

Later this week I will try the direct connection using PC2NAO.

Thank you.

[nlyubova]

The message about “Broken pipe” means that you have lost connection.

How far do you go with your Pepper?

You could try running naoqi_driver on Pepper.

[mbusy]

Hi @StefanWa, any updates on the issue ?

[StefanWa]

Hi @Pandhariix, I am not working on this subject anymore.

[mbusy]

Perfect, thanks for the answer :) Closing the issue