dockerでNAO

再度挑戦．

# docker run -it --network host ros:noetic
docker run -it --network host \
  -v ~/Downloads/nao:/nao \
  ros:noetic

# コンテナ内で
apt update
apt install -y ros-noetic-naoqi-driver python2
# ネットワークインターフェース名を明示的に指定する必要があり．標準だとeth0になってしまいます．
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=192.168.14.70 network_interface:=enp2s0

別ターミナルで同一コンテナに入って，

docker ps
CONTAINER ID   IMAGE        COMMAND                  CREATED         STATUS         PORTS     NAMES
86c0391279b9   ros:noetic   "/ros_entrypoint.sh …"   8 minutes ago   Up 8 minutes             festive_lamport
docker exec -it 86c0391279b9 bash

環境変数の設定は，

source /opt/ros/noetic/setup.bash
cd /nao/pynaoqi-python2.7-2.1.4.13-linux64
export PYTHONPATH=$(pwd):$PYTHONPATH
export LD_LIBRARY_PATH=$(pwd):$LD_LIBRARY_PATH

root@NucBoxG5:/# rostopic list
/cmd_vel
/diagnostics
/joint_angles
/joint_states
/move_base_simple/goal
/naoqi_driver/audio
/naoqi_driver/bumper
/naoqi_driver/camera/bottom/camera_info
/naoqi_driver/camera/bottom/image_raw
/naoqi_driver/camera/front/camera_info
/naoqi_driver/camera/front/image_raw
/naoqi_driver/hand_touch
/naoqi_driver/head_touch
/naoqi_driver/imu/torso
/naoqi_driver/info
/naoqi_driver/odom
/naoqi_driver/sonar/left
/naoqi_driver/sonar/right
/rosout
/rosout_agg
/speech
/tf

これでROS1が使えます．

rostopic pub /speech std_msgs/String "data: 'Hello Nao'"