Plymouth's Pepper ROS nodes

Bringing it up

• export NAO_IP=<pepper IP>
• ssh nao@<pepper IP>, then:

$ nao stop
$ naoqi-bin --disable-life

• ssh nao@<pepper IP>, then:

qicli call ALMotion.wakeUp

Finally:

roslaunch pepper_bringup pepper_full.launch

Teleop

Required packages:

• ros-<version>-joy
• nao_teleop: http://wiki.ros.org/nao_teleop

Then:

$ roslaunch nao_teleop teleop_joy.launch

Note: to enable the joystick control, press button 10 on the joystick, not 9.

Mapping

Using gmapping:

$ roslaunch pepper_plymouth_nao mapping.launch

Localisation

First, the map server:

$ rosrun map_server map_server <path to map>/map.yaml

Then, AMCL:

$ rosrun amcl amcl scan:=/pepper_robot/laser

To save the map, run:

$ rosrun map_server map_saver

before stopping gmapping.

Navigation

Both localisation (using AMCL) and planning are provided from:

roslaunch pepper_plymouth_ros nav.launch

A custom map can be provided:

roslaunch pepper_plymouth_ros nav.launch map:=<full path to your map.yaml>

3D Perception

Until it is officially released, you might need to manually install pepper_bringup with the perception launch file: get it here.

Then it works 'out of the box'.

Building a 3D voxel octomap

You need the 3D perception pipeline up and running. See above.

• First:

$ sudo apt install ros-kinetic-octo*

• then install by hand octomap_mapping
• then:

$ roslaunch pepper_plymouth_ros octomap_mapping.launch