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HOWTO.md

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Setup

Run on Laptop

  1. Start Docker (and make sure you've pulled bamos/openface)
  2. Start GraphDB (and make sure there is a repository called leolani)
  3. Start object_detection.py within pepper_tensorflow
  4. Set APPLICATION_BACKEND to pepper.ApplicationBackend.SYSTEM in pepper/config.py
  5. Start any Application in pepper/apps/..
  6. Done

Run on Robot

  1. Start Docker (and make sure you've pulled bamos/openface)
  2. Start GraphDB (and make sure there is a repository called leolani)
  3. Start object_detection.py within pepper_tensorflow
  4. Set APPLICATION_BACKEND to pepper.ApplicationBackend.NAOQI in pepper/config.py
  5. Set NAOQI_IP and NAOQI_PORT in accordance with robot's address
  6. Start any Application in pepper/apps/..
  7. Done

Pepper Troubleshooting

No Pepper-laptop connection can be established

  1. Make sure Pepper and the laptop are on the same network
  2. Verify Pepper has access to network (by pressing belly-button)
  3. Make sure NAOQI_IP and NAOQI_PORT are set correctly in pepper/config.py

Pepper cannot connect to network

  1. Connect Pepper to network using ethernet cable
  2. Press belly-button to obtain IP and update pepper/config.py -> NAOQI_IP accordingly
  3. Go to robot web page (by entering IP in browser)
  4. Go to network settings and connect to wifi
    • If unlisted, reboot robot (and wifi). Make sure wifi is online before robot is.
  5. Shutdown robot, remove ethernet cable, and boot again. It now should work...

Problems with speech audio

  1. Start an application with StatisticsComponent and look at the STT (Speech to Text) activity
  2. If no signal (i.e STT [..........]):
    1. Check if the NAOqi or System Microphone is used: pepper/config.py -> NAOQI_USE_SYSTEM_MICROPHONE
    2. Make sure external mic, if used, is switched on and sensitive enough (use OS settings)
    3. Make sure Pepper mic, if used, is not broken?
  3. If signal is low (i.e STT [|||.......] < pepper/config.py -> VOICE_ACTIVITY_DETECTION_THRESHOLD):
    1. Make sure you talk loud enough (noisy fans in Peppers head make it difficult)
    2. Make sure you talk in the right microphone (i.e. pepper/config.py -> NAOQI_USE_SYSTEM_MICROPHONE)
    3. Make sure the external mics volume is high enough!
  4. If signal is too high (i.e. STT [||||||||||]) all the time:
    1. Peppers own mics cannot handle very loud/noisy environments, like fairs
    2. Use a microphone attached to the laptop, instead!
      • don't forget to set pepper/config.py -> NAOQI_USE_SYSTEM_MICROPHONE = True
  5. Microphone should process audio at 16 kHz (i.e. Statistics: Mic 16.0 kHz), if not:
    1. Lower CAMERA_RESOLUTION and/or CAMERA_FRAME_RATE in order to meet performance requirements