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Hi all,

I'm trying to get a ROS node running, which should publish the images grabbed by the cameras of the Nao robot (latest generation, H25 with Intel ATOM CPU). Therefore I'm using the Aldebaran C++ API.

First, I tried to use the NAO-ROS camera driver from Brown Uni, but it didn't work in my case either. This link reports the problem: http://answers.ros.org/question/1864/nao-teleop-and-camera-feed

So when writing an own wrapper node for the cameras, I tried to integrate the necessary Aldebaran API functions according to Aldebaran's API docu. The node should work remotely, so it is not loaded onto the robot. My wrapper node compiles, but it crashes with segmentation fault immadiately at run time. I'm using image_transport of ROS, and I'm sure the ROS part of the code works fine as I used the concept with a simple webcam before without problems. However, I think the problem lies within the Aldebaran API and libraries. As soon as they are included, the node still compiles, but crashes at run time.

Has anyone a solution or useful hints to this problem?

Thank you.

Originally posted by _phdstudent on ROS Answers with karma: 3 on 2012-05-02

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I just wrote a small ROS python wrapper for Nao's camera. You can find it in our nao_driver package (see http://www.ros.org/wiki/nao_driver).

Originally posted by daniel_maier with karma: 290 on 2012-05-23

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Without knowing what your code looks like, my first guess would be that you tried to link ROS and Aldebaran's naoqi into the same binary. naoqi is linked to a specific boost version, included in the naoqi SDK. ROS links (probably) to another boost version in /usr/lib/. One solution would be to compile ROS from source and let it link to the boost version included in the naoqi SDK. The easiest solution would be to use python.

Originally posted by daniel_maier with karma: 290 on 2012-05-07

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