Pepper utils

Install the required packages

On your computer

First, install the following packages in your catkin workspace:

git clone https://github.com/ros-naoqi/naoqi_bridge.git
git clone https://github.com/OctoMap/octomap_msgs.git
git clone https://github.com/RIS-WITH/nao_interaction_msgs.git
git clone https://github.com/RIS-WITH/naoqi_driver.git 
git clone https://github.com/ros-naoqi/naoqi_bridge_msgs.git 
git clone -b melodic-devel https://github.com/ros-naoqi/libqi.git 
git clone -b melodic-devel https://github.com/ros-naoqi/libqicore.git 

Then clone the following in your workspace:

git clone https://github.com/ros-naoqi/pepper_meshes

Before compiling everything, run:

catkin_make pepper_meshes_meshes

This will create a mesh folder in your workspace in devel/tmp/meshes/1.0/. Copy the mesh folder in the pepper_meshes ROS package using the mv command.

You can now compile the entire workspace.

On pepper

The current package should be installed on pepper nvidia computer in the same workspace than the realsense package.

Setup your environment

We advise you to create a setup.sh file in your workspace. In there, paste the following:

export MYIP="$(ip route get 1.2.3.4 | awk '{print $7}')"
export MYINTERFACE="$(ip route get 1.2.3.4 | awk '{print $5}')"
export ROS_MASTER_URI=http://$MYIP:11311
export PYTHONPATH=${PYTHONPATH}:/usr/local/robots/pepper/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages/

Launching the robot

On your computer you can simply launch:

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=mummer6.laas.fr roscore_ip:=$MYIP network_interface:=$MYINTERFACE 

Then on the nvidia device in the realsence workspace launch:

roslaunch pepper_utils realsense.launch

Do not forgot to export the ROS_MASTER_URI env variable !

The robot is ready! You can use the strat.py script to desactivate default pepper features like the artificial life if you need to.