I want to make my pepper track people, but I got an error.
I tried to subscribe "ALTracker" with your example as follows,
import argparse
import qi
import sys
class Authenticator:
def __init__(self, username, password):
self.username = username
self.password = password
# This method is expected by libqi and must return a dictionary containing
# login information with the keys 'user' and 'token'.
def initialAuthData(self):
return {'user': self.username, 'token': self.password}
class AuthenticatorFactory:
def __init__(self, username, password):
self.username = username
self.password = password
# This method is expected by libqi and must return an object with at least
# the `initialAuthData` method.
def newAuthenticator(self):
return Authenticator(self.username, self.password)
# Reads a file containing the username on the first line and the password on
# the second line. This is the format used by qilaunch.
def read_auth_file(path):
with open(path) as f:
username = f.readline().strip()
password = f.readline().strip()
return (username, password)
def make_application(argv=sys.argv):
"""
Create and return the qi.Application, with authentication set up
according to the command line options.
"""
# create the app and edit `argv` in place to remove the consumed
# arguments.
# As a side effect, if "-h" is in the list, it is replaced with "--help".
app = qi.Application(argv)
# Setup a non-intrusive parser, behaving like `qi.Application`'s own
# parser:
# * don't complain about unknown arguments
# * consume known arguments
# * if the "--help" option is present:
# * print its own options help
# * do not print the main app usage
# * do not call `sys.exit()`
parser = argparse.ArgumentParser(add_help=False, usage=argparse.SUPPRESS)
parser.add_argument(
"-a", "--authfile",
help="Path to the authentication config file. This file must "
"contain the username on the first line and the password on the "
"second line.")
if "--help" in argv:
parser.print_help()
return app
args, unparsed_args = parser.parse_known_args(argv[1:])
logins = read_auth_file(args.authfile) if args.authfile else ("nao", "nao")
factory = AuthenticatorFactory(*logins)
app.session.setClientAuthenticatorFactory(factory)
# edit argv in place.
# Note: this might modify sys.argv, like qi.Application does.
argv[1:] = unparsed_args
return app
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--msg", default="Hello python")
app = make_application()
args = parser.parse_args()
logger = qi.Logger("authentication_with_application")
logger.info("connecting session")
app.start()
logger.info("fetching ALTextToSpeech service")
tts = app.session.service("ALTextToSpeech")
test = app.session.service("ALTracker")
logger.info("Saying something")
tts.call("say", args.msg)
However, I got a following error.
[I] 1720225369.133268 10238 authentication_with_application: connecting session
[I] 1720225369.362969 10238 authentication_with_application: fetching ALTextToSpeech service
Traceback (most recent call last):
File "connection.py", line 86, in <module>
test = app.session.service("ALTracker")
RuntimeError: Cannot find service 'ALTracker' in index
[W] 1720225369.433052 10253 qitype.signal: disconnect: No subscription found for SignalLink 18446744073709551615.
[W] 1720225369.433066 10247 qitype.signal: disconnect: No subscription found for SignalLink 13.
[W] 1720225369.433136 10253 qitype.signal: disconnect: No subscription found for SignalLink 18446744073709551615.
I confirmed that the same error occurs with "ALSonar," "ALExtractor" and so on.
My qi version is 3.1.5 and I use Python 3.8.
How can I solve this error?
I want to make my pepper track people, but I got an error.
I tried to subscribe "ALTracker" with your example as follows,
However, I got a following error.
I confirmed that the same error occurs with "ALSonar," "ALExtractor" and so on.
My qi version is 3.1.5 and I use Python 3.8.
How can I solve this error?