pepper_gazebo_plugin package from pepper_virtual repo

pepper_control pepper_gazebo_plugin

Package Summary

Tags No category tags.
Version 0.0.4
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-naoqi/pepper_virtual.git
VCS Type git
VCS Version master
Last Updated 2017-11-16
Dev Status DEVELOPED
Released RELEASED

Package Description

Gazebo plugin for Pepper robot

Additional Links

Maintainers

  • Natalia Lyubova

Authors

  • Natalia Lyubova
  • Mikael Arguedas

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 needs to be manually installed; apt, rosdep or any package management tools does not handle the dependency to it. See a relevant discussion.

sudo apt-get install ros-indigo-pepper-description ros-indigo-pepper-meshes ros-indigo-pepper-control

Other plugins to fetch and compile:

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

sudo apt-get update
sudo apt-get install ros-indigo-pepper-gazebo-plugin

If you prefer to install from source, then

  • install additional dependencies:
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
cd src
git clone https://github.com/ros-naoqi/pepper_virtual.git
cd ..
catkin_make

How to run it

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:

[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{width="100.0%"}

For example, visualizing Cameras and sonar

image{width="100.0%"}

We can also visualize these messages using Rviz plugins

image{width="100.0%"}

How to interact with simulated robot

Using MoveIt!:

To control your simulated robot using MoveIt, run:

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

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pepper_gazebo_plugin at answers.ros.org

pepper_gazebo_plugin package from pepper_virtual repo

pepper_control pepper_gazebo_plugin

Package Summary

Tags No category tags.
Version 0.0.4
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-naoqi/pepper_virtual.git
VCS Type git
VCS Version master
Last Updated 2017-11-16
Dev Status DEVELOPED
Released RELEASED

Package Description

Gazebo plugin for Pepper robot

Additional Links

Maintainers

  • Natalia Lyubova

Authors

  • Natalia Lyubova
  • Mikael Arguedas

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 needs to be manually installed; apt, rosdep or any package management tools does not handle the dependency to it. See a relevant discussion.

sudo apt-get install ros-indigo-pepper-description ros-indigo-pepper-meshes ros-indigo-pepper-control

Other plugins to fetch and compile:

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

sudo apt-get update
sudo apt-get install ros-indigo-pepper-gazebo-plugin

If you prefer to install from source, then

  • install additional dependencies:
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
cd src
git clone https://github.com/ros-naoqi/pepper_virtual.git
cd ..
catkin_make

How to run it

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:

[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{width="100.0%"}

For example, visualizing Cameras and sonar

image{width="100.0%"}

We can also visualize these messages using Rviz plugins

image{width="100.0%"}

How to interact with simulated robot

Using MoveIt!:

To control your simulated robot using MoveIt, run:

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

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pepper_gazebo_plugin at answers.ros.org

pepper_gazebo_plugin package from pepper_virtual repo

pepper_control pepper_gazebo_plugin

Package Summary

Tags No category tags.
Version 0.0.4
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-naoqi/pepper_virtual.git
VCS Type git
VCS Version master
Last Updated 2017-11-16
Dev Status DEVELOPED
Released RELEASED

Package Description

Gazebo plugin for Pepper robot

Additional Links

Maintainers

  • Natalia Lyubova

Authors

  • Natalia Lyubova
  • Mikael Arguedas

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 needs to be manually installed; apt, rosdep or any package management tools does not handle the dependency to it. See a relevant discussion.

sudo apt-get install ros-indigo-pepper-description ros-indigo-pepper-meshes ros-indigo-pepper-control

Other plugins to fetch and compile:

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

sudo apt-get update
sudo apt-get install ros-indigo-pepper-gazebo-plugin

If you prefer to install from source, then

  • install additional dependencies:
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
cd src
git clone https://github.com/ros-naoqi/pepper_virtual.git
cd ..
catkin_make

How to run it

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:

[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{width="100.0%"}

For example, visualizing Cameras and sonar

image{width="100.0%"}

We can also visualize these messages using Rviz plugins

image{width="100.0%"}

How to interact with simulated robot

Using MoveIt!:

To control your simulated robot using MoveIt, run:

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

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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged pepper_gazebo_plugin at answers.ros.org