ros pepper

[Sylvester Fowzan]

Kindly share us any documentation or links to ROSify Pepper,as of now its compltely configured in android

[Vignesh Prasad]

Hi,

You can probably look at the repositories in github.com/ros-naoqi/ where they have a lot of ROS repositories for Pepper. From their documentations, most of them are still available on ROS indigo via apt-get but not all are available for ROS melodic (assuming you're working with Ubuntu 18.04 and ROS melodic).

In my case to run Pepper, I did the following.

Installed whatever available packages are there using apt-get, which for me looked like:

sudo apt install ros-melodic-naoqi-bridge-msgs ros-melodic-naoqi-libqi ros-melodic-naoqi-driver ros-melodic-naoqi-libqicore ros-melodic-pepper-meshes

Cloned the rest of the packages into the source directory of your catkin_ws:

git clone https://github.com/ros-naoqi/pepper_dcm_robot.git
git clone https://github.com/ros-naoqi/pepper_moveit_config.git
git clone https://github.com/ros-naoqi/pepper_robot.git
git clone https://github.com/ros-naoqi/pepper_virtual.git
git clone https://github.com/ros-naoqi/naoqi_bridge.git
git clone https://github.com/ros-naoqi/naoqi_dcm_driver.git

Go to the root of your catkin_ws and install the denedecies:

rosdep install --from-paths src --ignore-src -r -y

In order to move the robot using MoveIt, I had to make some changes to naoqi_dcm_driver, which I have explained in a previous answer: https://groups.google.com/d/msg/ros-sig-aldebaran/iefPRIB6SgY/AzJfZ_BpBAAJ

After compiling that, you can control the robot using MoveIt as explained in the README of the pepper_moveit_config repostiory: https://github.com/ros-naoqi/pepper_moveit_config

I haven't tried navigation with pepper but you could check out the (partly outdated) README of the naoqi_navigation package in the naoqi_bridge repository: https://github.com/ros-naoqi/naoqi_bridge/tree/master/naoqi_navigation

[Herman]

Hi,

i wanted to try to get the Pepper in a Gazebo simulation in Ubuntu 20.04 and ROS Noetic. I didnt work out so i saw this and installed Ubuntu 18.04 on Virtualbox and ROS melodic and did everything like you described and it worked till i tired to use roslaunch to start it.
What have I done wrong?
Do i need another Gazebo version, i think i m currently using 9.

Thanks in advance

[Jamie Stevens]

Sorry, wrong number.

- Jamie

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[Sam Pfeiffer]

You may want to try this fork: https://github.com/awesomebytes/pepper_virtual

If you want to try to use Pepper in simulation for navigation. Made/tested in kinetic, but it may work in melodic (untested).

[Herman]

Hi
thank you for your answer.

i tried it in melodic but trying to catkin_make resulted in following error

/home/hermann/catkin_ws/src/gazebo_model_velocity_plugin/src/gazebo_ros_model_velocity.cpp:394:29: error: ‘math’ has not been declared
       parent_->SetLinearVel(math::Vector3(x_vel_cmd, y_vel_cmd, 0.0));
                             ^~~~
/home/hermann/catkin_ws/src/gazebo_model_velocity_plugin/src/gazebo_ros_model_velocity.cpp:395:30: error: ‘math’ has not been declared
       parent_->SetAngularVel(math::Vector3(0.0, 0.0, cmd.angular.z));
                              ^~~~

I might try to install ubuntu 16 on virtual box and try on Kinetic

[Georgia Blanco-Litchfield]

I can confirm that that simulation works great on ROS Kinetic 16.04 

Georgia

On 6 Oct 2020, at 5:48 pm, Herman <hermann...@gmail.com> wrote:

Hi

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[Herman]

Hello,

i finally managed to get the simulation running.

Is there any way to access the depth camera?

Hermann

[Sam Pfeiffer]

There should be a depth camera topic published

[Herman]

I tried opening it in rviz like in this video https://www.youtube.com/watch?v=W_Ag_C8Dvm0&feature=youtu.be
and when i added the camera like the depth images the little windows in which you can see the camera images just said to me "no image"

[Sam Pfeiffer]

I haven't checked but the depth camera may require access to the gpu? If you are running in a VM you may not have access?

Do rostopic list and check if there is a depth topic. Try all the launch files?

I haven't tried it since... Probably May? I don't know when the last commit was (I'm on my phone).

Maybe post a recording of your screen to show what do you see in gazebo and what do you see in Rviz?

The full log of the roslaunch would also help.

[Herman]

Hello,
so i had to search a lot of pages but i found the fix. All i needed to to was to update/reinstall gazebo. It seems it didnt send the sensor data.
The robot is now finally simulated in Gazebo without crashing and i recieve the sensor readings.
How can i move the Pepper now through the environment?

[Georgia Blanco-Litchfield]

It tells you on the repo readme 

https://github.com/awesomebytes/pepper_virtual

Rosrun rqt_robot_steering rqt_robot_steering 

Regards

Georgia Blanco-Litchfield

On 13 Oct 2020, at 8:20 am, Herman <hermann...@gmail.com> wrote:

Hello,

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[Herman]

Hello
I tried Rosrun rqt_robot_steering rqt_robot_steering
But when i changed the values nothing happens the Pepper is still not moving in the room

[Georgia Blanco-Litchfield]

Have you check the velocity topic’s name? Rostopic list

Regards

Georgia Blanco-Litchfield

On 19 Oct 2020, at 8:36 am, Herman <hermann...@gmail.com> wrote:

Hello

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[Herman]

Ok thank you. I m fairly new to ROS. Is there a way to control and move the robot via a python script?

[Herman]

Hello,

so i found a way to move Pepper via python script but i encountered another problem.

I want to launch the robot in a custom world created by me. Its pretty simple just 4 walls and few objects(cubes and cylinders)

I tried it by putting my custom .world file in the /pepper_gazebo_plugin/worlds folder and then i copied a launch file and changed this part:

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find pepper_gazebo_plugin)/worlds/simple_office_with_people.world"/>
    <arg name="paused" value="false"/>
  </include>

to

<include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find pepper_gazebo_plugin)/worlds/simpleWorld.world"/>
    <arg name="paused" value="false"/>
  </include>

And then tried to roslaunch pepper_gazebo_plugin myfile.launch and at first execution gazebo just immediatly crashed and at second execution the robot was just launched in an empty world.

Is there anything i need to do different or to know to launch the robot in my own world?

[Georgia Blanco-Litchfield]

Try having your world in your package 

Regards

Georgia Blanco-Litchfield

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[Herman]

My world in in the package. I put it in /pepper_gazbeo_plugin/worlds