pepper_gazebo_plugin =================

Package developed against ROS Indigo and default gazebo (gazebo 2.2.3)

Dependencies

The package requires Gazebo and robot-specific packages, such as pepper_description, pepper_meshes, and pepper_control packages

NOTE: [pepper_meshes]{.title-ref} needs to be manually installed; [apt]{.title-ref}, [rosdep]{.title-ref} or any package management tools does not handle the dependency to it. See a relevant discussion.

``` {.sourceCode .bash} sudo apt-get install ros-indigo-pepper-description ros-indigo-pepper-meshes ros-indigo-pepper-control

Other plugins to fetch and compile:


``` {.sourceCode .bash}
git clone https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins.git
git clone https://github.com/pal-robotics/pal_msgs.git
git clone https://github.com/pal-robotics/pal_gazebo_plugins.git
catkin_make

Please also make sure that the package and all the dependencies are up to date

``` {.sourceCode .bash} sudo apt-get update sudo apt-get install ros-indigo-pepper-gazebo-plugin

If you prefer to install from source, then

-   install additional dependencies:


``` {.sourceCode .bash}
sudo apt-get install ros-indigo-gazebo-ros ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control ros-indigo-effort-controllers ros-indigo-joint-trajectory-controller

• clone the code and compile

``` {.sourceCode .bash} cd src git clone https://github.com/ros-naoqi/pepper_virtual.git cd .. catkin_make

How to run it
=============


``` {.sourceCode .bash}
roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch

This will spawn gazebo with Pepper on a robocup field. The ball has the same specs as the official RoboCup ball (size and mass).

The simulation will be in pause mode to allow initialization of all the controllers. Wait until eveything is successfully loaded:

``` {.sourceCode .bash} [INFO] [WallTime: 1413899465.061789] [0.000000] Controller Spawner: Loaded controllers: /pepper_dcm/Head_controller, /pepper_dcm/RightArm_controller, /pepper_dcm/LeftArm_controller, /pepper_dcm/LeftLeg_controller, /pepper_dcm/RightLeg_controller, /pepper_dcm/RightHand_controller, /pepper_dcm/LeftHand_controller, /pepper_dcm/joint_state_controller

Click the Play button.

Your Pepper should be standing in front of the ball at the center of the
field.

Get sensor data from gazebo
===========================

All the sensors are simulated using plugins. These plugins are included
in the robot description via pepperGazebo.xacro file. Each sensor
publish data on rostopics.

We can visualize topics using Ctrl+T or Window/Topic Visualization

![image](images/TopicVisu.png){width="100.0%"}

For example, visualizing Cameras and sonar

![image](images/GazeboCamSonar.png){width="100.0%"}

We can also visualize these messages using Rviz plugins

![image](images/MoveitCamSonar.png){width="100.0%"}

How to interact with simulated robot
====================================

Using MoveIt!:

To control your simulated robot using MoveIt, run:


``` {.sourceCode .bash}
roslaunch pepper_moveit_config moveit_planner.launch

Then you can control the robot with MoveIt!, check the tutorial https://github.com/ros-naoqi/pepper_moveit_config/blob/master/README.rst

Changelog for package pepper_gazebo_plugin

0.0.4 (2017-11-16)

• Merge pull request #13 from nlyubova/master updating README
• removing ros-indigo-humanoid-nav-msgs from README
• updating README
• Update README.rst
• Merge pull request #9 from ros-naoqi/mikaelarguedas-clone-using-https-in-readme [pepper_gazebo_plugin/README.rst] clone using https
• [pepper_gazebo_plugin/README.rst] clone using https
• Merge pull request #5 from kochigami/add-trajectory-all [pepper_gazebo_plugin] enable to launch pepper_control_position_all.launch
• [pepper_gazebo_plugin] enable to launch pepper_control_position_all.launch
• Contributors: Kanae Kochigami, Mikael Arguedas, Natalia Lyubova

0.0.3 (2016-09-20)

• Update README.rst
• Update package.xml
• [doc] Add note for the dependency that needs manually added.
• Contributors: Isaac I.Y. Saito, Natalia Lyubova

0.0.2 (2016-07-06)

• fixing install in CMakeLists
• updating README
• Contributors: nlyubova

0.0.1 (2016-07-06)

• moving pepper_gazebo_plugin to pepper_virtual
• updating the dependency on pepper_dcm_control
• updating README
• updating the dependency on pepper_dcm_control package
• removing unused launch file
• initial commit
• Contributors: nlyubova