\u672c\u6587\u4e3b\u8981\u89e3\u51b3\u5728OpenNAO\u865a\u62df\u673a\u4e2d\u6210\u529f\u8fd0\u884cNAOqi Python SDK\u7684\u95ee\u9898\uff0c\u4ee5\u4fbf\u4e0d\u4f9d\u8d56\u5b9e\u4f53\u673a\u5668\u4eba\u6210\u8fdb\u884c\u6d4b\u8bd5\u4e0e\u4ee3\u7801\u7f16\u8bd1\u5de5\u4f5c\u3002<\/p>\n
\u56e0\u4e3a\u6211\u4eec\u7684AXMService\u4ee3\u7801\u5fc5\u987b\u5728pepper\u672c\u4f53\u4e2d\u8fd0\u884c\uff0c\u5bfc\u81f4\u9700\u8981\u6253\u5305\u7f16\u8bd1\u7684\u65f6\u5019\uff0c\u5fc5\u987b\u627e\u4e00\u4e2a\u673a\u5668\u4eba\u6765\u64cd\u4f5c\uff0c\u800c\u4e14\u7f16\u8bd1\u8fc7\u7a0b\u8fd8\u4e0d\u80fd\u5728pepper\u91cc\u9762\uff0c\u56e0\u4e3a\u6ca1\u6709root\u6743\u9650\uff0c\u7f3a\u4e4f\u4e00\u4e9b\u4f9d\u8d56\u5305\uff0c\u53ea\u80fd\u5728NAO\u7684\u673a\u5668\u7cfb\u7edf\u91cc\u9762\u3002<\/p>\n
\u8fd9\u4e00\u70b9\u5927\u5927\u9650\u5236\u4e86\u6211\u4eec\u6253\u5305\u90e8\u7f72\u7684\u8fc7\u7a0b\u3002\u6240\u4ee5\u4e00\u76f4\u5e0c\u671b\uff0c\u53bb\u6389\u8fd9\u4e2a\u786c\u4ef6\u4f9d\u8d56\uff0c\u8ba9\u6211\u4eec\u76f4\u63a5\u5728\u7535\u8111\u7684\u865a\u62df\u91cc\u9762\u5c31\u80fd\u6253\u5305\u3002<\/p>\n
\u4e0b\u9762\u5148\u91cd\u73b0\u5728OpenNAO\u4e2d\u8fd0\u884c\u4ee3\u7801\u9047\u5230\u7684\u62a5\u9519\uff0c\u7136\u540e\u7ed9\u51fa\u76f8\u5e94\u7684\u89e3\u51b3\u529e\u6cd5\u3002<\/p>\n
\u6574\u4e2a\u6b65\u9aa4\u5b8c\u6210\u540e\u7684OpenNAO\u7cfb\u7edf\uff0c\u6211\u5df2\u7ecf\u901a\u8fc7VirtuaBox\u5bfc\u51fa\u4e86\u4e00\u4e2a\u955c\u50cf\u7cfb\u7edf\u6587\u4ef6\uff0c\u653e\u5230\u516c\u53f8\u7684\u5171\u4eab\u4e0a\u9762\uff0c\u6587\u4ef6\u540d\u4e3a opennao-vm-2.1.2.17-axm0311.ova<\/p>\n
\u4ee5\u540e\u5927\u5bb6\u5177\u4f53\u4f7f\u7528\uff0c\u76f4\u63a5\u5bfc\u5165\u6211\u5236\u4f5c\u597d\u7684\u7cfb\u7edf\u955c\u50cf\uff0c\u7136\u540e\u76f4\u63a5\u4f7f\u7528\uff0c\u5e76\u4e0d\u9700\u8981\u8fdb\u884c\u4ee5\u4e0b\u8fd9\u4e9b\u6b65\u9aa4\u3002<\/p>\n
\u5b89\u88c5\u597d pynaoqi-python2.7-2.4.3.28-linux32<\/p>\n
\r\nwget -c https:\/\/community-static.aldebaran.com\/resources\/2.4.3.28\/sdk-python\/pynaoqi-python2.7-2.4.3.28-linux32.tar.gz\r\ntar vxzf pynaoqi-python2.7-2.4.3.28-linux32.tar.gz\r\nrm pynaoqi-python2.7-2.4.3.28-linux32.tar.gz\r\nexport PYTHONPATH=\/home\/nao\/pynaoqi-python2.7-2.4.3.28-linux32\/\r\nexport LD_LIBRARY_PATH=\/home\/nao\/.local\/AXMService\/lib:\/home\/nao\/.local\/lib:\/home\/nao\/pynaoqi-python2.7-2.4.3.28-linux32\/\r\n<\/pre>\n\u6d4b\u8bd5naoqi sdk\u662f\u5426\u80fd\u6b63\u5e38\u8fd0\u884c\uff0c\u53ea\u9700\u8981\u6253\u5f00python shell\uff0c\u5c1d\u8bd5import qi\uff1a<\/p>\n
\r\nvirtual-nao [err 1] ~\/.local\/AXMService $ python\r\nPython 2.7.8 (default, Sep 10 2014, 15:09:52) \r\n[GCC 4.6.3] on linux2\r\nType "help", "copyright", "credits" or "license" for more information.\r\n>>> import qi\r\nTraceback (most recent call last):\r\n File "<stdin>", line 1, in <module>\r\n File "\/home\/nao\/pynaoqi-python2.7-2.4.3.28-linux32\/qi\/__init__.py", line 66, in <module>\r\n from _qi import Application as _Application\r\nImportError: \/usr\/lib\/gcc\/i686-pc-linux-gnu\/4.5.3\/libstdc++.so.6: version `GLIBCXX_3.4.15' not found (required by \/home\/nao\/pynaoqi-python2.7-2.4.3.28-linux32\/libqi.so)\r\n<\/pre>\n\u8fd9\u4e2a\u9519\u539f\u56e0\u4e3agcc\u7248\u672c\u592a\u4f4e\uff0cnaoqi sdk\u7528\u7684\u8f83\u9ad8\u7248\u672c\u7684gcc\u7f16\u8bd1\u7684\uff0c\u672c\u7cfb\u7edf\u6ca1\u6709\u5bf9\u5e94\u7684\u9ad8\u7248\u672c\u5e93\uff0c\u89e3\u51b3\u529e\u6cd5\u4e3a\u5347\u7ea7gcc\uff0c\u89c1\u4e0b\u9762\u3002<\/p>\n
\u89e3\u51b3gcc\u7248\u672c\u95ee\u9898\u540e\u7ee7\u7eed\u3002<\/p>\n
\r\nvirtual-nao [0] ~\/gcc-4.8.5\/build $ python\r\nPython 2.7.8 (default, Sep 10 2014, 15:09:52) \r\n[GCC 4.6.3] on linux2\r\nType "help", "copyright", "credits" or "license" for more information.\r\n>>> import qi\r\nTraceback (most recent call last):\r\n File "<stdin>", line 1, in <module>\r\n File "\/home\/nao\/pynaoqi-python2.7-2.4.3.28-linux32\/qi\/__init__.py", line 66, in <module>\r\n from _qi import Application as _Application\r\nImportError: \/lib\/libc.so.6: version `GLIBC_2.15' not found (required by \/home\/nao\/pynaoqi-python2.7-2.4.3.28-linux32\/libqi.so) \r\n<\/pre>\n\u8fd9\u4e2a\u9519\u8bef\u539f\u56e0\u4e3aglibc\u5e93\u7248\u672c\u592a\u4f4e\uff0c\u5347\u7ea7glibc\u52302.15\u540e\u89e3\u51b3\uff0c\u6b65\u9aa4\u89c1\u4e0b\u9762\u3002<\/p>\n
\u89e3\u51b3glibc\u7248\u672c\u540e\u7ee7\u7eed\u3002\u9700\u8981\u628a\u5b89\u88c5\u8def\u5f84\u52a0\u5230\u73af\u5883\u53d8\u91cf\u4e2d\u53bb\uff1a<\/p>\n
\r\nexport LD_LIBRARY_PATH=$LD_LIBRARY_PATH:\/home\/nao\/.local\/glibc2.15\/lib\r\n<\/pre>\n\u8fd9\u65f6\u5019\u518d\u5c1d\u8bd5import qi<\/p>\n
\r\nvirtual-nao [0] ~ $ python\r\nPython 2.7.8 (default, Sep 10 2014, 15:09:52) \r\n[GCC 4.6.3] on linux2\r\nType "help", "copyright", "credits" or "license" for more information.\r\n>>> import qi\r\n>>> \r\n<\/pre>\n\u53d1\u73b0\u5df2\u7ecf\u6ca1\u6709\u62a5\u9519\uff0c\u8bf4\u660enaoqi sdk\u5df2\u7ecf\u5b89\u88c5\u597d\u4e86\uff0c\u4e0b\u9762\u6211\u4eec\u6765\u8fd0\u884c\u4e0baxmservice\u770b\u770b\u3002<\/p>\n
\u8fd0\u884c AXMService\/run.py \u62a5\u9519\uff1a<\/p>\n
\r\nvirtual-nao [0] ~\/.local\/AXMService $ python run.py \r\nTraceback (most recent call last):\r\n File "run.py", line 50, in <module>\r\n from axmservice.config import ConfigCommon\r\n File "\/home\/nao\/.local\/AXMService\/axmservice\/config.py", line 4, in <module>\r\n from axmservice.helper.config_helper import ConfigHelper\r\n File "\/home\/nao\/.local\/AXMService\/axmservice\/helper\/config_helper.py", line 2, in <module>\r\n import requests\r\n File "\/usr\/lib\/python2.7\/site-packages\/requests\/__init__.py", line 58, in <module>\r\n from . import utils\r\n File "\/usr\/lib\/python2.7\/site-packages\/requests\/utils.py", line 12, in <module>\r\n import cgi\r\n File "\/usr\/lib\/python2.7\/cgi.py", line 51, in <module>\r\n import mimetools\r\n File "\/usr\/lib\/python2.7\/mimetools.py", line 6, in <module>\r\n import tempfile\r\n File "\/usr\/lib\/python2.7\/tempfile.py", line 34, in <module>\r\n from random import Random as _Random\r\n File "\/usr\/lib\/python2.7\/random.py", line 45, in <module>\r\n from math import log as _log, exp as _exp, pi as _pi, e as _e, ceil as _ceil\r\nImportError: \/usr\/lib\/python2.7\/lib-dynload\/math.so: undefined symbol: PyFPE_jbuf\r\n<\/pre>\n\u9700\u8981\u91cd\u65b0\u7528gcc \u7f16\u8bd1python 2.8.7\uff0c\u5f97\u5230\u65b0\u7684math.so\uff0c\u89c1\u4e0b\u9762\u6b65\u9aa4\u3002<\/p>\n
\u4e4b\u540e\u5c31\u80fd\u987a\u5229\u8fd0\u884caxmservice\u7684\u4ee3\u7801\uff1a<\/p>\n
\r\nvirtual-nao [0] ~\/.local\/AXMService $ python run.py \r\n[I 170311 13:09:51 functions:59] Start cover config\r\n[I 170311 13:09:51 functions:106] cover ConfigASR.use_alitts from False into False\r\n[I 170311 13:09:51 functions:106] cover ConfigASR.use_aliasr from False into False\r\n[W] 17176 qimessaging.transportsocket: connect: Connection refused\r\nTraceback (most recent call last):\r\n File "run.py", line 96, in <module>\r\n qi_helper.connect()\r\n File "\/home\/nao\/.local\/AXMService\/axmservice\/helper\/qi_helper.py", line 22, in connect\r\n app.start()\r\nRuntimeError: System error: Connection refused\r\n<\/pre>\n\u8fd9\u91cc\u7684 Connection refused \u4e0d\u662f\u56e0\u4e3a\u73af\u5883\u95ee\u9898\uff0c\u800c\u662f\u672c\u5730\u6ca1\u6709\u5f00\u542fnaoqi-bin\u670d\u52a1\uff0c\u62ff\u4e0d\u5230service\u3002<\/p>\n
\u7136\u540e\u8fd0\u884cpyinstaller\u5c1d\u8bd5\u7f16\u8bd1\uff0c\u5c31\u53ef\u4ee5\u6210\u529f\u3002<\/p>\n
\u5347\u7ea7gcc\u52304.8.5<\/h1>\n
\r\nwget -c "http:\/\/ftp.tsukuba.wide.ad.jp\/software\/gcc\/releases\/gcc-4.8.5\/gcc-4.8.5.tar.gz"\r\ntar vxzf gcc-4.8.5.tar.gz\r\ncd gcc-4.8.5\r\n.\/contrib\/download_prerequisites\r\nmkdir build\r\ncd build\r\n..\/configure --prefix=\/home\/nao\/.local\/ --enable-checking=release --enable-languages=c,c++ --disable-multilib\r\nmake\r\nmake install\r\n<\/pre>\n\u7f16\u8bd1\u53ef\u80fd\u9700\u8981\u51e0\u4e2a\u5c0f\u65f6\u65f6\u95f4\uff0c\u9700\u8010\u5fc3\u7b49\u5f85\u3002\u6211\u7528\u6211\u7684Macbook Pro\uff0c\u5f00\u4e868G\u5185\u5b584\u6838cpu\u7ed9\u865a\u62df\u673a\uff0c\u7528 make -j4 \u706b\u529b\u5168\u5f00\u7f16\u8bd1\uff0c\u4e5f\u82b1\u4e86 45 \u5206\u949f\u3002<\/p>\n
\u53c2\u8003\uff1ahttps:\/\/itbilu.com\/linux\/management\/V1vdnt9ll.html<\/p>\n
\u5347\u7ea7glibc\u52302.15<\/h1>\n
\r\nwget -c http:\/\/ftp.gnu.org\/gnu\/glibc\/glibc-2.15.tar.gz\r\ntar vxzf glibc-2.15.tar.gz \r\nwget http:\/\/ftp.gnu.org\/gnu\/glibc\/glibc-ports-2.15.tar.gz\r\ntar vxzf glibc-ports-2.15.tar.gz\r\nmv glibc-ports-2.15 glibc-2.15\/ports\r\ncd glibc-2.15\r\nmkdir build\r\ncd build\r\n..\/configure --prefix=\/home\/nao\/.local\/glibc2.15\/ --disable-profile --enable-add-ons --with-headers=\/usr\/include --with-binutils=\/usr\/bin CC='gcc -U__i686'\r\nmake\r\nsudo make install \r\n<\/pre>\n\u6ce8\u610f\u8fd9\u91cc\u4e00\u5b9a\u8981\u5b89\u88c5\u5230 .local\/glibc2.15 \uff0c\u4e0d\u8981\u8986\u76d6\u7cfb\u7edf\u5168\u5c40\u7684\uff0c\u4e0d\u7136\u975e\u5e38\u5371\u9669\uff0cglibc\u662flinux\u7cfb\u7edf\u975e\u5e38\u5e95\u5c42\u7684\u5e93\uff0c\u8986\u76d6\u540e\u8fdels\u7b49\u57fa\u7840\u7684linux\u547d\u4ee4\u90fd\u4f1a\u51fa\u73b0 segment fault\u3002<\/p>\n
\u5982\u679c\u4e0a\u9762\u5728configure\u7684\u65f6\u5019\u4e0d\u52a0\u53c2\u6570 CC=’gcc -U__i686′ \uff0cmake\u7684\u65f6\u5019\u4f1a\u62a5\u5982\u4e0b\u7684\u9519\uff1a<\/p>\n
\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S: Assembler messages:\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: invalid identifier for ".ifdef"\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: junk at end of line, first unrecognized character is `1'\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: junk at end of line, first unrecognized character is `1'\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: Missing symbol name in directive\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: junk at end of line, first unrecognized character is `1'\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: Missing symbol name in directive\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: junk at end of line, first unrecognized character is `.'\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: junk at end of line, first unrecognized character is `1'\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: expected comma after name `' in .size directive\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: ".endif" without ".if"\r\n..\/sysdeps\/i386\/fpu\/s_frexp.S:66: Error: junk `.get_pc_thunk.dx' after expression\r\nmake[2]: *** [\/home\/nao\/glibc-2.15\/build\/math\/s_frexp.os] Error 1\r\nmake[2]: *** Waiting for unfinished jobs....\r\nmake[2]: Leaving directory `\/home\/nao\/glibc-2.15\/math'\r\nmake[1]: *** [math\/subdir_lib] Error 2\r\nmake[1]: Leaving directory `\/home\/nao\/glibc-2.15'\r\nmake: *** [all] Error 2\r\n<\/pre>\nmake install\u7684\u65f6\u5019\u4f1a\u62a5\u9519\uff1a<\/p>\n
\r\n \/home\/nao\/glibc-2.15\/build\/elf\/ldconfig \\\r\n \/home\/nao\/.local\/glibc2.15\/lib \/home\/nao\/.local\/glibc2.15\/lib\r\n\/home\/nao\/glibc-2.15\/build\/elf\/ldconfig: Can't open configuration file \/home\/nao\/.local\/glibc2.15\/etc\/ld.so.conf: No such file or directory\r\nmake[1]: Leaving directory `\/home\/nao\/glibc-2.15'\r\n<\/pre>\n\u89e3\u51b3\u529e\u6cd5\uff1a<\/p>\n
\r\nsudo cp \/etc\/ld.so.conf \/home\/nao\/.local\/glibc2.15\/etc\/\r\n<\/pre>\n\u53c2\u8003\uff1ahttp:\/\/love.junzimu.com\/archives\/2269<\/p>\n
\u89e3\u51b3 python\u4e2dmath.so\u7684\u7248\u672c\u95ee\u9898<\/h1>\n
\u4e0b\u8f7dpython 2.7.8\uff0c\u91cd\u65b0\u7f16\u8bd1\uff0c\u5f97\u5230\u65b0\u7684 math.so\uff0c\u8986\u76d6\u539f\u6765\u7684\u5c31\u884c\u4e86\u3002<\/p>\n
\u91cd\u65b0\u5f00\u4e00\u4e2a\u5168\u65b0\u7684OpenNAO\u865a\u62df\u673a\u7f16\u8bd1python\uff0c\u56e0\u4e3a\u6211\u4eec\u53ea\u9700\u8981math.so\uff0c\u5168\u90e8\u7f16\u8bd1Python\u8986\u76d6\u7cfb\u7edf\u7684\u8bdd\uff0c\u4f1a\u51fa\u73b0\u95ee\u9898\uff0c\u6211\u5c1d\u8bd5\u8fc7\u3002<\/p>\n
\r\nwget -c https:\/\/www.python.org\/ftp\/python\/2.7.8\/Python-2.7.8.tgz\r\ntar vxzf Python-2.7.8.tgz\r\ncd Python-2.7.8\r\n.\/configure\r\nmake\r\nsudo make install\r\n<\/pre>\n\u628a\u5f97\u5230\u7684 \/usr\/lib\/python2.7\/lib-dynload\/math.so \u590d\u5236\u5230\u6211\u4eec\u7684\u7cfb\u7edf\u4e2d\u53bb\u3002<\/p>\n
\u73af\u5883\u53d8\u91cf<\/h1>\n
\u9700\u8981\u6dfb\u52a0\u4e24\u4e2a\u73af\u5883\u53d8\u91cf<\/p>\n
\r\nexport LD_LIBRARY_PATH=\/home\/nao\/.local\/AXMService\/lib:\/home\/nao\/.local\/lib:\/home\/nao\/.local\/glibc2.15\/lib:\/home\/nao\/pynaoqi-python2.7-2.4.3.28-linux32\/\r\nexport PYTHONPATH=\/home\/nao\/pynaoqi-python2.7-2.4.3.28-linux32\/\r\n<\/pre>\npyinstaller<\/h1>\n
\u5728\u6267\u884cpyinstaller\u7684\u65f6\u5019\uff0c\u53ef\u80fd\u4f1a\u62a5\u9519\uff0c\u8bf4\u627e\u4e0d\u5230 ~\/.local\/bin\/lddlibc4 \uff0c\u8fd9\u65f6\u4ece\u7cfb\u7edf\u8def\u5f84\u4e2d\u590d\u5236\u8fc7\u53bb\u5373\u53ef\uff1a<\/p>\n
\r\ncp \/usr\/bin\/lddlibc4 ~\/.local\/bin\/\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"\u603b\u8ff0 \u672c\u6587\u4e3b\u8981\u89e3\u51b3\u5728OpenNAO\u865a\u62df\u673a\u4e2d\u6210\u529f\u8fd0\u884cNAOqi Python SDK\u7684\u95ee\u9898\uff0c\u4ee5\u4fbf\u4e0d\u4f9d\u8d56\u5b9e\u4f53\u673a\u5668\u4eba […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[5],"tags":[],"class_list":["post-6196","post","type-post","status-publish","format-standard","hentry","category-diary"],"_links":{"self":[{"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/posts\/6196","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/comments?post=6196"}],"version-history":[{"count":3,"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/posts\/6196\/revisions"}],"predecessor-version":[{"id":6199,"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/posts\/6196\/revisions\/6199"}],"wp:attachment":[{"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/media?parent=6196"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/categories?post=6196"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/kyle.ai\/blog\/wp-json\/wp\/v2\/tags?post=6196"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}