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How can I fix the issue when I'm going to open the simulator in bush?

SimRobot[37164:591211] MessageTracer: Falling back to default whitelist

Hi, I am trying to work on the code release. I have a few questions
1 . There is a statement in document which I am unable to understand."SimRobot represents everything in the
simulation except for SimulatedNao." Can someone please explain what it means.

2. Do u have some active community that can help beginners about basic questions related to code or the only method to get help is to post queries on this forum.
   Looking forward for a positive response. Regards

Hello,
I want to know what I need to do so that the code can be used on Nao V6. I tried to use alcommon and boost in SDK version 2.8.3.54-linux64 to compile them into bhuman code. I found some bottom-level errors about libs such as Eigen. These errors seem to be based on 32-bit architecture. Currently, V6 2.8 system only provides 64-bit sdk, so the architecture does not match well. I wonder if my understanding is correct? If so, what can I do to eventually use Bhuman code on my V6 robot? Because at present I only have V6 robots around me, and I am very interested in the software system of bhuman. You have done a great job. Many partners in China are learning your system. I also want to use it on my robot as soon as possible, so I hope to know what I should do next. Thank you!

The build errors seems like this as following:

In file included from ../../Src/Modules/Perception/FieldPerceptors/PenaltyMarkPerceptor.cpp:9:
In file included from ../../Src/Modules/Perception/FieldPerceptors/PenaltyMarkPerceptor.h:11:
In file included from ../../Src/Representations/Configuration/FieldDimensions.h:12:
In file included from ../../Src/Tools/Boundary.h:11:
In file included from ../../Src/Tools/Math/Eigen.h:18:
In file included from ../../Util/SimRobot/Util/Eigen/Eigen/StdVector:14:
In file included from ../../Util/SimRobot/Util/Eigen/Eigen/Core:176:
In file included from ../../Util/Buildchain/clang/include/emmintrin.h:31:
../../Util/Buildchain/clang/include/xmmintrin.h:1373:10: error: use of undeclared identifier '__builtin_ia32_cvttss2si'; did you mean '__builtin_ia32_cvtss2si'?
return __builtin_ia32_cvttss2si((__v4sf)__a);
^~~~~~~~~~~~~~~~~~~~~~~~
__builtin_ia32_cvtss2si
../../Util/Buildchain/clang/include/xmmintrin.h:1282:10: note: '__builtin_ia32_cvtss2si' declared here
return __builtin_ia32_cvtss2si((__v4sf)__a);
^
../../Util/Buildchain/clang/include/xmmintrin.h:2965:44: error: token is not a valid binary operator in a preprocessor subexpression
#if defined(SSE2) && !__building_module(_Builtin_intrinsics)

The mvo command is giving syntax error. I loaded the scene BH.ros and it has a robot named robot3. When i give the command , mvo robot3 10 0 0[1 1 1] or something according to this syntax, i always get a syntax error. I am unable to move my robot using this command. Can u guide , what am I doing wrong?

I would like to modify SimRobot to integrate a new module. How would i do this? I am searching for documentation and found that there was a SimRobotHelp in earlier version but the API section was not completed.

I would like to do play / pause on the sim by script. Is it already possible?

Is there other documentation elsewhere? If not, can you give me some hints as to where to look and what to do please?

Thank you!

I'm new to this code base and am trying to run the default behavior provided with the code on the Nao, but am unable to do so. I am able to connect the robot to the RoboCup Game Controller. However when the state is set to playing the robot doesn't execute the behavior defined in the option Soccer.h.
How do I trigger this behavior? When you write a new behavior, how do I set it up such that it starts executing that behavior when the bhuman process on the robot starts up?

How can we start adding our robots to the GameController?

I am trying the mv command to change robot locations in field. The robot moves in x and y coordinates but no rotation is working.
command mv 100 10 330[100 0 0]

..Util/SimRobot/Src/SimRobot/StatusBar.cpp
../../Util/SimRobot/Src/SimRobot/StatusBar.cpp:2:10: error: 'QAction' file not
      found with <angled> include; use "quotes" instead
#include <QAction>
         ^~~~~~~~~
         `"QAction"`
In file included from ../../Util/SimRobot/Src/SimRobot/StatusBar.cpp:2:
In file included from ../../Util/SimRobot/Src/SimRobot/QAction:1:
../../Util/SimRobot/Src/SimRobot/qaction.h:43:10: fatal error: 
      'QtWidgets/qtwidgetsglobal.h' file not found
#include <QtWidgets/qtwidgetsglobal.h>
         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
2 errors generated.
Makefile:11: recipe for target 'all' failed
make: *** [all] Error 1

Please help me!

When I used SimRobot open RemoteRobot.ros2 to connect a real Robot, nothing appeared in SimRobot. I can't connect NAO in SimRobot, but used ./login can do it.

My issue is when I'm running the executable of SimRobot, I select any scene that's in the directory on Scenes and then it shows up this issue:
Illegal instruction (core dumped)
How can I fix the issue?

We encountered a problem in the role conversion, does the code release provide an automatic conversion mechanism for the role? After I write my own characters, such as forwards, defenders, goalkeepers, how do I switch roles during the game?

root@z-Virtual-Machine:~/h/BHumanCodeRelease-master/Make/Linux# make
..Util/SimRobot/Src/SimRobot/StatusBar.cpp
../../Util/SimRobot/Src/SimRobot/StatusBar.cpp:2:10: fatal error: 'QAction' file
      not found
#include <QAction>
         ^~~~~~~~~
1 error generated.
Makefile:11: recipe for target 'all' failed
make: *** [all] Error 1

root@zjl-Virtual-Machine:~/h/BHumanCodeRelease-master/Make/Linux# qtchooser -l
4
5
default
qt4-x86_64-linux-gnu
qt4
qt5-x86_64-linux-gnu
qt5

My computer system is Ubuntu 18.04.1 LTS
My Qt5 is installed in"/usr/lib/x86_64-linux-gnu"
Please help me,thanks a lot!

When I type make in Make/Linux with ubuntu18.04lts
It shows that fatal error: 'QTreeWidget' file not found,'QCloseEvent'#include and 'QMainWindow''QDockWidget' file not found.but qt5 is installed in my ubuntu .
thanks a lot if you can reply to me .

I created a newcard.cpp under the directory "Src/Modules/BehaviorControl/BehaviorControl/Cards/Defender/" and added the card into gameplayCard.cfg and remove the "theActivitySkill" but it won't complie, can I be told what I need to do to add a new card into bhuman and get it to work, please.

I had read the B-human 2018. pdf tutorial, and I am interested in the model. But I didnt find the use place for the "conv.model"file. Can you give me some clue to use it.

Which module do I have to use to make the robot recognize the whistle so it can start playing?

i'd like to know if you could say to me if the CodeRelease 2016 is compatible with NAO V6.

As the team behaviour is not a part of github code. It is getting really difficult to figure out the particular files to be changed for role assignment during a gameplay. If u can highlight the systematic way of adding team behaviour to current code. The particular files that need a change to implement team behaviour. Your guidance will be highly appreciated.
I am not asking for implementation of a team behaviour strategy but the method to add own team behaviour effectively.

Dear Bhuman Author,

I encounterred a issue when setting up Bhuman on Nao, I have struggled for a whole day and cannot find any solution for this, so I tried to write an email to you for help.

I'm using ubuntu 16.10 and the latest BHumanCodeRelease. The first several steps works fine until the command "./installRobot 192.168.1.103 ", after this command is run, I can't connect to my robot. Following are the logs and factors when I occur this issue.

1. After the installRobot is done the robot restart it self automaticly, but I didn't find any clue about this restart in the CodeRelease2015.pdf.
2. I'm using a router, both Nao and my PC are connected to it with cable, this router has DHCP enabled(the ip Nao got before restart is 192.168.1.103).

I was trying to figure out the root cause but failed, I wish you can solve some of my confusions.

1. After Nao is refreshed with opennao-atomsystem-image, Should I connect my PC with Nao through a net cable directly? If so, should I configure my PC as a DHCP server?
2. Is reboot after installRobot command excuted a normal case or not? If so, How can I figure out its Ip address after restart?
3. I got a Info "Buggy Ethernet driver detected! Limiting bandwidth to 100 kb/s", what's the root cause of this?

I know connection issue is really a environment related problem, but I wonder if you can give me any advice to figure this out. Please feel free to ask if I didn't make myself clear.
Below is the shell history of my issue. Besides this, I also created a issue on github incase you want to answer my questions on it.

./ createRobot -t 1 -r 103 Penny
./addRobotIds -ip 192.168.1.103 Penny
./installRobot 192.168.1.103

[INFO]: Copying authorized keys. If prompted please enter password twice (usually nao).

using parameters
robotName: Penny
address: 192.168.1.103

[INFO]: Buggy Ethernet driver detected! Limiting bandwidth to 100 kb/s
[INFO]: Copying files to /tmp/NaoInstall/Penny
[INFO]: launching install process
Please enter password for user 'root' (usually also 'root').
Password: root

Changed robot name to Penny

• service wired added to runlevel boot
• service wireless added to runlevel boot
• service bhumand added to runlevel default
• service readonly added to runlevel boot
• service crash-report-uploader removed from runlevel default
• service connman removed from runlevel boot
• service proxydaemon removed from runlevel default
• service vsftpd removed from runlevel default
• service nginx removed from runlevel default
• service naopathe removed from runlevel default
• service laser removed from runlevel boot
• service bootprogress_0 removed from runlevel shutdown
• service bootprogress_25 removed from runlevel boot
• service bootprogress_50 removed from runlevel boot
• service bootprogress_75 removed from runlevel boot
• service bootprogress_100 removed from runlevel default
• service avahi-daemon removed from runlevel default
• service lircd removed from runlevel default
• service bluetooth removed from runlevel boot
• service sshd removed from runlevel boot
• service hwclock removed from runlevel boot
• service sysctl removed from runlevel boot
• service local removed from runlevel default
• service urandom removed from runlevel boot
• service termencoding removed from runlevel boot
• service root removed from runlevel boot
• service netmount removed from runlevel default
• service mtab removed from runlevel boot
• service sysklogd removed from runlevel boot
• service hostname removed from runlevel boot
• service modules removed from runlevel boot
• service savecache removed from runlevel shutdown
• service firewall_mode removed from runlevel default
• service ofono removed from runlevel default
• service pulseaudio removed from runlevel default
• service qimessaging-json removed from runlevel default
• service udev-postmount removed from runlevel default
• service sshd added to runlevel default
  [INFO] rebooting

Thanks very much.

Thank you so much for distributing your valuable codes through github.

We have 2 NAO ver 5 and 3 NAO Robocup Edition ver 3.3 robots.
We have successfuly installed the B-Human code on ver 5 robots but faced problems setting up the B-Human code on ver 3.3 robots.
We have tried to use your B-Human 2011 codes as 2012 codes seems to be designed for ver 3.3 robots with the head upgraded to ver 4.0. But our robot heads are ver 3.3 .

We have successfully finished the make process of 2011 code but failed to set it up on the robot.
Would you please kindly guide us how we could setup the robot or is there a page we could find the guide from the web?
Is there a link on the web that we could find required files and dependencies for 2011 code release?

Thank you so much for your kind helps.

Excuse me， could you tell me how to use my collection of images to train the neural network model with Karas.I don't know how to transfer images to the ballspots I need.

Hi Bhuman

I was wondering if you could tell me what compiler are you using to compile the Bhuman code to upload it to nao.

Hello,

When I'm trying to compile the code on Mac it seems to be complicated, even following step by step the team report you've posted. When I started with the compiling, I didn't understand which step follow, because you suggest the > Develop form, but when the code is compiled, it appears the > Debug form.

And also I've got a couple of questions:

1. When it appears the dialog, can I put the new IP address my team put for the NAO, or it has to be obligatory to use the IP address the robot provide as default?
2. How can I install the NAO in wireless mode from the beginning?

I would be glad to have a prompt answer from you in these days.

when i make in Make/Linux, I got the following errors:
../../Build/Linux/SimRobot/Develop/moc_StatusBarDevelopLinux.cpp:22:1: error: unknown type name 'QT_WARNING_DISABLE_DEPRECATED'

It didn't appear before I use BHumanCodeRelease2015 to find a red ball. I want to know why this happen and how to solve it.
Thanks.

After I released the code from generate.cmd,I opened the .sln file and compiled the NAO code in the Develop configuration.But it cnnot build and show these errors.Could you please tell me why?Thank you

Dear friend：
I am a learner of your code. In your code,I found some mof files with special actions.However,I don't know how to make my own mof files. Can you tell me how your team make such mof files? Using what software?or something else.

Thanks a lot!

Hello,

I am trying to compile your SimRobot simulator on Ubuntu 12.04 (32 bit) + gcc version 4.6.3. It gives many compilation errors as below:

../../Src/Tools/InverseKinematic.h:240:33: error: use of overloaded operator '+' is ambiguous (with operand types 'JointData::Joint' and 'int')
jointData.angles[firstJoint + 1] = joint1;

Is that error specific to my own system (ubuntu and gcc version)?

Hi! I'm Camila Álvarez from the University of la Sabana, and I'm working with my team in the image processing optimization of the robot NAO, and we find intersting your code. Therefore, with my team, we are trying to compile this repository, but in the part of the root image, appears an error which says the following message:

It seems that isn't creating a directory that allows the compilation of the code.
I will apreciate if you could guide us to solve this problem.
Thank you so much.

I am using this code and installed all required packaged excluding alcommon but in 2.4 all settings given for real robot nao.In 2.7 giving for simulation but no settings given for team creation .it is displaying team members in gui but no connection established.Is there any defined steps how we can use it in simulator?

Hi BHuman team,

We have attempted to thoroughly document our attempts to setup 2019 and 2021 BHuman code releases with Nao v6. We were able to deploy the 2019 version to our Nao correctly but not the 2021 version. Here is a summary of the issues we encountered, as well as our environment data.

Are there any obvious mistakes in our setup process? Thanks for your help!

Operating System: Ubuntu 20.04.4 LTS
arch: x86_64
Processor: 11th Gen Intel i7-1185G7
Nao Version: 6

setup command line log:

git clone --recursive [email protected]:bhuman/BHumanCodeRelease.git
sudo ./flasher (created installation medium from nao-2.8.5.11_ROBOCUP_ONLY_with_root.opn)
(installed image on NAO via installation medium)
NO_CLION=true Make/Linux/generate

Make/Linux/compile SimRobot Develop
Install/createRobot -t 89 -r 3 -i 169.254.145.167 testrobot
sudo Install/createRootImage  ~/Downloads/nao-2.8.5.11_ROBOCUP_ONLY_with_root.opn
(attempt 1 to deploy, IP is reachable)
Make/Common/deploy Develop 169.254.237.57 -p 3
	------ Compiling Nao (Develop) ------
	[0/3] Performing build step for 'Nao'
	ninja: no work to do.
	[3/3] Completed 'Nao'
	------ Successfully compiled ------
	stopping bhuman
	Failed to stop bhuman.service: Unit bhuman.service not loaded.
	
(attempt 2 to deploy, using usb installation medium)
Make/Common/deploy Develop -p 3 -i
sudo ./flasher (created installation medium from OPN generated with deploy -i)
(installed image on NAO via installation medium)
We then set the wireless connection as shown here:

ping 192.168.89.3	PING 192.168.89.3 (192.168.89.3) 56(84) bytes of data.
	From 192.168.1.1 icmp_seq=1 Destination Host Unreachable

We have also tried scanning the ethernet interface the robot is connected over, and connecting the robot to a router, and it is not showing up on any network after being flashed via deploy -i.

Edit:

By the way, the actual commands we used with exact parameters are in the command-line log.

The compiling error in Codelite. At Src/Tools/Setting.cpp 153 invalid operands to binary expressing ('const char *' and 'const char *'). Thank you.

Hi !
we are having troubles when we try to copyfiles to the NAO and we get an error that says stopping Bhuman and we dont know what is happening, also I think that we broke the operative system of one NAO could you help us with that ? also do you know where we can get the NAO os ? please help us :)

In file "RadarFieldLines.h",line 39,ColorRGBA color=ColorRGBA::ColorRGBA(...).
Does it mean construct a object and assign to variable color, such as ColorRGBA color = ColorRGBA(...).
In first case, my Xcode throw a error to me.

Hi,

I'm currently trying to copy the code to my NAO. (note: I'm using MacOS and XCode) for the first time.
To do so, I start with a factory reset of my robot, then I do the script
./createRobot -t 45 -r 8 Glados
to create my robot, I then copy the robot Ids by doing the script:
./addRobotIds -ip 169.254.201.219 Glados

Everything works up until this point

And then I execute:
./installRobot 169.254.201.219
which reboots the NAO.

After rebooting, I'm not able to see the NAO anywhere on my network, I can't connect to it via bush, copyfile, login, ssh or other. Even the router i'm using don't see it on his network, when I access to the administrative panel.
I tried changing the arcfour cipher to nothing (removing the lines) and to the cipher aes128-ctr (as specified in another issue), and still no changes in the result.
I even tried to execute manually (via ssh) all the lines to copy the files and install that are in the installRobot file.

• Is there any reason why I can't connect to my NAO after my ./installRobot ? Is this a network issue? Do I have to connect via a different IP than the one I use when executing the installRobot (169.254.201.219)?
• Is there any different setup to do because I'm on Mac (because other people can configure it on Linux and it works)?

Good afternoon B-Human team; I´ve been working with the help of your 2017 release code for the past 6 months and I've learned countless new tools and information just by reading and modifying your base.

As soon as I saw your 2018 release code I tried to compile the project using Vs2017. Nonetheless, after following the instructions there is an error "LNK2001" regarding the usage of ODE libraries. I tried following a previous instruction of yours in which you suggested to compile the ODE lib and replace it on the src.

I tried downloading the ode (.013) and the premake5 to compile the project but it failed and showed even more errors than at the beginning.

I deleted everything once again and I am at a clean start.
Could you help me install the project on Windows? (Win 10 x64) (Vs 2017)

It's strange that my teammate's computer can normal work,but several times later,It will also flash back.
my system is Linux 18.04,and my teammate's is 16.04

Our Nao can't stand up with this codes, but in SimRobot the virtual Nao could stand up. I wonder wether this codes have the part of getting up, or we ignored some necessary steps?

I am relatively new to this field. Do u have any idea on how do we access naoqi simulator sdk library packages. They seem to be deprecated. Any alternative for it?

hello,I wanted to add opencv to bhuman.And I install opencv3.10 to /Util/opencv/.Then I edited /Make/common/Nao.mare and SimulateNao.mare.I included opencv to the code.But when I make in /make/Linux/,I got some error.
ld: skipping incompatible ../../Util/opencv/lib/libopencv_video.so when searching for -lopencv_video
ld: cannot find -lopencv_video
ld: skipping incompatible ../../Util/opencv/lib/libopencv_objdetect.so when searching for -lopencv_objdetect
ld: cannot find -lopencv_objdetect
ld: skipping incompatible ../../Util/opencv/lib/libopencv_highgui.so when searching for -lopencv_highgui
ld: cannot find -lopencv_highgui
ld: skipping incompatible ../../Util/opencv/lib/libopencv_imgproc.so when searching for -lopencv_imgproc
ld: cannot find -lopencv_imgproc
ld: skipping incompatible ../../Util/opencv/lib/libopencv_core.so when searching for -lopencv_core
ld: cannot find -lopencv_core
ld: skipping incompatible ../../Util/opencv/lib/libippicv.a when searching for -lippicv
ld: cannot find -lippicv
ld: skipping incompatible ../../Util/opencv/lib/libz.a when searching for -lz
ld: cannot find -lz
Could you help me?

NAO system version: 2.1.4.13
I follow the instructions on section 2.4 in the coderelease2015 to set up the Nao. Everything goes well during the setting, however after the robot reboot, it can't find its body.

I don't know how to get BallSpots from my images.

On macOs 10.13.2,

Unknown cipher type'arcfour'
[FATAL]: Can't change access rights on NAO's'.ssh'folder error.

appeared when installRobot was executed.
This seems to be because the weak encryption algorithm RC4 is used, but SSh client has removed it. I remove -c arcfour from sshOptions and can execute installrobot, but I don't know if there will be an unknown effect.

How can I fix the arc four issue when I'm deploying the NAO in the bush? The problem appears in macOS.

Hi.
We´re using windows 10-visual studio 2017 and during the compiling process we tried to compile simRobot core 2 but several errors appeared in the prosecution.
Those errors are listed below :

Error code C1047 t'....\Util\SimRobot\Util\ode\Windows\lib\ode_double.lib' A creator was compiled before other previous objects; compile libraries and other previous objects SimRobotCore2 C:\Users\kernel\Desktop\B-HUMAN\BHumanCodeRelease-master\BHumanCodeRelease-master\Make\VS2017\LINK 1

2.Error code LNK1257 Description Proyect File
error of code generation SimRobotCore2 C:\Users\kernel\Desktop\B-HUMAN\BHumanCodeRelease-master\BHumanCodeRelease-master\Make\VS2017\LINK 1

3.Error code MSB6006 Code Description Proyect File
Error "cmd.exe" SimRobot C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\Common7\IDE\VC\VCTargets\Microsoft.CppCommon.targets 171

thanks a lot if you can reply to us .

Use the 'WalkAtRelativeSpeed' option, but the robot behaving as' waving '.
I also try to use 'WalkAtAbsoluteSpeed',but has no effect.

option(PlayingState)
{
  initial_state(demo)
  {
    action
    {
      //Demo();
    //WalkAtRelativeSpeed(Pose2f(0.f,0.8f,0.f));
    WalkAtAbsoluteSpeed(0,10.f,0.f);
    }
  }
}

I am trying to figure-out the basic walking provided in code release. The problem is that when I implement the call in CodereleaseKickatGoalCard.cpp, theWalkAtAbsoluteSpeedSkill(Pose2f(0.0f, 0.0f, walkSpeed)); works for side steps in y direction given the y-argument, for x as -1.0f , it implements the backward walk, it rotates given the rotation angle. However, for positive value of x i.e 1.0f , the robot doesnot walk in x direction as it should. The same is happening for walkAtRelativeSpeed. Please guide to what am i doing wrong . Why the forward walk isn't working.
A prompt reply would be highly appreciated.

Hello everyone!

I am trying to compile the 2021 code release on Pop!_OS 22.04 LTS but it seems that the GLEW library cannot be found by cmake.
Here the error message

-- Found OpenGL: /usr/lib/x86_64-linux-gnu/libGL.so CMake Error at /snap/clion/198/bin/cmake/linux/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:230 (message): Could NOT find GLEW (missing: GLEW_INCLUDE_DIRS GLEW_LIBRARIES) Call Stack (most recent call first): /snap/clion/198/bin/cmake/linux/share/cmake-3.22/Modules/FindPackageHandleStandardArgs.cmake:594 (_FPHSA_FAILURE_MESSAGE) /snap/clion/198/bin/cmake/linux/share/cmake-3.22/Modules/FindGLEW.cmake:215 (find_package_handle_standard_args) /home/toto/robocup/BHumanCodeRelease/Util/SimRobot/Make/Common/OpenGL.cmake:5 (find_package) CMakeLists.txt:190 (include)

I have installed the GLEW library as reported here in addition to all the packages listed in the wiki.

Did anyone have the same problem? Thanks! :)