jsk_pepper_startup

What’s this?

contains JSK’s launch file for startup Pepper with ROS

Running startup program

rossetip
roslaunch jsk_pepper_startup jsk_pepper_startup.launch network_interface:=<your network interaface (ex. eth0, enp0s31f6...)>

% For network_interface variable, please check ifconfig for the interface name your PC uses.

% You can play audio stream from Pepper’s audio ROS topic. Please see here for more details.

% In order to confirm if ROS-Pepper is booting, please check with rviz.

roscd pepper_bringup/config
rosrun rviz rviz -d pepper.rviz

Control Pepper via roseus

Please refer to README here.

Nodes, topics and services

These are a list of nodes and some useful topics and services from jsk_pepper_startup.launch.

Pepper robot

Publications:
 * /joint_states [sensor_msgs/JointState]
 * /pepper_robot/audio [naoqi_bridge_msgs/AudioBuffer]
 * /pepper_robot/bumper [naoqi_bridge_msgs/Bumper]
 * /pepper_robot/camera/bottom/camera_info [sensor_msgs/CameraInfo]
 * /pepper_robot/camera/bottom/image_raw [sensor_msgs/Image]
 * /pepper_robot/camera/depth/camera_info [sensor_msgs/CameraInfo]
 * /pepper_robot/camera/depth/image_raw [sensor_msgs/Image]
 * /pepper_robot/camera/front/camera_info [sensor_msgs/CameraInfo]
 * /pepper_robot/camera/front/image_raw [sensor_msgs/Image]
 * /pepper_robot/camera/ir/camera_info [sensor_msgs/CameraInfo]
 * /pepper_robot/camera/ir/image_raw [sensor_msgs/Image]
 * /pepper_robot/chest_touch [naoqi_bridge_msgs/ChestButtonPressed]
 * /pepper_robot/hand_touch [naoqi_bridge_msgs/HandTouch]
 * /pepper_robot/head_touch [naoqi_bridge_msgs/HeadTouch]
 * /pepper_robot/imu/base [sensor_msgs/Imu]
 * /pepper_robot/imu/torso [sensor_msgs/Imu]
 * /pepper_robot/info [naoqi_bridge_msgs/StringStamped]
 * /pepper_robot/laser [sensor_msgs/LaserScan]
 * /pepper_robot/odom [nav_msgs/Odometry]
 * /pepper_robot/sonar/back [sensor_msgs/Range]
 * /pepper_robot/sonar/front [sensor_msgs/Range]
 * /tf [tf2_msgs/TFMessage]

Subscriptions:
 * /cmd_vel [geometry_msgs/Twist]
 * /joint_angles [naoqi_bridge_msgs/JointAnglesWithSpeed]
 * /move_base_simple/goal [geometry_msgs/PoseStamped]
 * /speech [std_msgs/String]

Services:
 * /naoqi_driver/fade_leds
 * /naoqi_driver/get_language
 * /naoqi_driver/get_robot_config
 * /naoqi_driver/get_volume
 * /naoqi_driver/play_audio_file
 * /naoqi_driver/reset_leds
 * /naoqi_driver/set_language
 * /naoqi_driver/set_volume

Pepper’s pose control

Publications:
 * /pepper_robot/pose/get_life_state [std_msgs/String]

Action:
 * /pepper_robot/pose/joint_trajectory [naoqi_bridge_msgs/JointTrajectoryAction]

Services:
 * /pepper_robot/pose/life/disable
 * /pepper_robot/pose/life/enable
 * /pepper_robot/pose/life/get_state
 * /pepper_robot/pose/rest
 * /pepper_robot/pose/wakeup

Joystick

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Changelog for package jsk_pepper_startup

1.1.0 (2017-07-16)

1.0.9 (2016-11-09)

1.0.8 (2016-11-08)

1.0.7 (2016-11-02)

• add launch_joy in jsk_pepper_startup launch
• [jsk_naoqi_robot] speak when program is started (by unix:sleep) or terminated (by overriden roseus-sigint-handler)
• [jsk_pepper_startup] remove meta package dependencies
• [jsk_pepper_startup] add launch_twitter arg for jsk_pepper_startup.launch
• Contributors: Kanae Kochigami, Shingo Kitagawa, Yuki Furuta

1.0.6 (2016-06-17)

• change from naoqi_msgs to naoqi_bridge_msgs (#614)
• Contributors: Kanae Kochigami

1.0.5 (2016-04-18)

1.0.4 (2016-03-21)

• package.xml add naoqi_pose depends to jsk_pepper_startup
• Contributors: Kei Okada

1.0.3 (2016-03-05)

1.0.2 (2016-02-14)

• jsk_pepper_startup: enable test https://github.com/furushchev/jsk_robot/commit/4b39a93b972008f5155e27a201b67a061c527a26
• [jsk_pepper_startup/CMakeLists.txt] disable test for a while
• [jsk_pepper_startup] use roslaunch_add_file_check instead of roslaunch-check in test file and skip hydro
• Contributors: Yuki Furuta, Kei Okada

1.0.1 (2015-11-19)

• move jsk_pepper_startup under jsk_naoqi_robot

1.0.0 (2015-11-06)

• [launch/jsk_pepper_startup.launch] use teleop_twist_joy instead of turtlebot_telop
• [package.xml] add depend to naoqi_bridge and naoqi_dashboard
• [joy-client.l] use naoqi_bridge_msgs instead of naoqi_msgs, update to pepper_robot/pose namespace
• [launch/jsk_pepper_startup.launch] remove old nao_app launch files
• fix to include pepper_full.launch for pepper_bringup > 0.1.4 (#452 <<https://github.com/jsk-ros-pkg/jsk_robot/issues/452>>)
• Contributors: Kei Okada

0.0.13 (2015-11-06)

0.0.12 (2015-11-06)

0.0.11 (2015-09-01)

• set robot/type, robot/name
• Contributors: Kei Okada

0.0.10 (2015-08-16)

0.0.9 (2015-08-03)

• package.xml: add joy
• [jsk_pepper_startup] add test_code to check if pepper launch is valid
• Contributors: Hitoshi Kamada, Kei Okada

0.0.8 (2015-07-16)

• use front/camera until https://github.com/ros-naoqi/pepper_robot/pull/1/files is merged
• Contributors: Kanae Kochigami

0.0.7 (2015-06-11)

• [package.xml] add depends to nao_apps
• [jsk_pepper_startup] add joy-client.l
• Contributors: Kanae Kochigami, Kei Okada

0.0.6 (2015-04-10)

0.0.5 (2015-04-08)

• modify msg name and launch file name
• Contributors: Jiang Jun

0.0.4 (2015-01-30)

0.0.3 (2015-01-09)

0.0.2 (2015-01-08)

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