Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2019-03-22
Dev Status DEVELOPED
Released RELEASED

Package Description

The pepper_bringup package

Additional Links

No additional links.

Maintainers

  • Kei Okada

Authors

No additional authors.

peppereus

This is a NAO-specific package for roseus interface.

How to make pepper model on euslisp

Install pepper mesh files with manual approval of license

sudo apt-get install ros-<ros version>-pepper-meshes
catkin build

Control Pepper via roseus

(load "package://peppereus/pepper-interface.l") ;; load modules
(setq *pepper* (pepper))          ;; creat a robot model
(setq *ri* (instance pepper-interface :init)) ;; make connection to the real robot
(objects (list *pepper*))        ;; display the robot model

or

(load "package://peppereus/pepper-interface.l") ;; load modules
(pepper-init)

How to try methods

  1. roslaunch jsk_pepper_startup.launch
  2. Please refer to Control Pepper via roseus.
  3. Please try methods, you can refer to the explanations below how to try them. If there is a sign of kochigami-develop, please follow Interface when controlling NAO and Pepper via roseus.

Methods

Tablet

By using tablet-related methods, we can show image, app, html file and web page on the tablet.

Trouble Shooting

  • How to log in to a robot?
ssh nao@<Your robot IP>

  • How to send a file to a robot?
scp <file path of your local PC> nao@<Your robot IP>:/home/nao/.local/share/PackageManager/apps/img/html/

  • If this kind of error occurs at tablet.launch, please re-launch the program.
[ERROR] [1543212108.209135]: Exception caught:
    ALTabletService::showImage
        module destroyed

Joints of Pepper

Here is a list of joints when accessing Pepper. ex:

(send *pepper* :reset-pose)
=> #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0)
       0    1    2   3    4     5     6     7    8     9    10   11   12   13  14

0: :knee-p
1: :hip-r
2: :hip-p
3: :larm :shoulder-p
4: :larm :shoulder-r
5: :larm :elbow-y
6: :larm :elbow-p
7: :larm :wrist-y
8: :rarm :shoulder-p
9: :rarm :shoulder-r
10: :rarm :elbow-y
11: :rarm :elbow-p
12: :rarm :wrist-y
13: :head :neck-y
14: :head :neck-p

Default poses

They are defined in pepper.yaml.

:bowing-pose

:greeting-pose

:look-foot

:nodding-pose

:ok-pose

:pointing-left-pose

:pointing-right-pose

:raise-left-hand-high

:raise-left-hand-low

:raise-right-hand-high

:raise-right-hand-low

:reset-pose

:show-bottom-camera

:show-head

:show-top-camera

:spread-hands-smally

:spread-hands-widely

:touch-speakers

:watching-pose

:wondering-pose

CHANGELOG

Changelog for package peppereus

1.1.0 (2017-07-16)

1.0.9 (2016-11-09)

1.0.8 (2016-11-08)

1.0.7 (2016-11-02)

  • [naoqieus, peppereus] delete wheel controller
  • [jsk_naoqi_robot] add roseus in find_package
  • add controllers
  • rotation of rleg endcoords modified
  • [peppereus] add head, larm, rarm, rleg end coords (#637)
  • Contributors: Kanae Kochigami

1.0.6 (2016-06-17)

1.0.5 (2016-04-18)

  • move send-stiffness-controller, servo-on, servo-off methods to naoqi-interface
  • Contributors: Kanae Kochigami

1.0.4 (2016-03-21)

1.0.3 (2016-03-05)

  • modify service type
  • add :show-app, :show-webview, :s(g)et-show-image-folder-path
  • add :show-image, :show-webview, :hide-image
  • Contributors: Kanae Kochigami

1.0.2 (2016-02-14)

1.0.1 (2015-11-19)

  • move peppereus under jsk_naoqi_robot
  • naoeus,peppereus: package.xml: fix typo in run_depend, naoqi->naoqieus, nap_apps->nao_apps
  • add naoqieus/cmake/compile_naoqi_modeol.cmake
  • Contributors: Kei Okada, Masahiro Bando

1.0.0 (2015-11-06)

  • [pepper-interface.l] update :go-pos for new NoaQi drivers using move_base_simple/goal
  • [pepper-interface.l] update joint action server name space for newer pepper_bringup
  • Contributors: Kei Okada

0.0.13 (2015-11-06)

0.0.12 (2015-11-06)

0.0.11 (2015-09-01)

0.0.10 (2015-08-16)

  • do not add naoqi_driver in find_package
  • pepper-interface.l: use naoqi_bridge_msgs, but if not found use naoqi_msgs
  • CMakeLists.txt, package.xml: add nao_interaction_msgs
  • add depends to naoqi_driver
  • roseus/CMakeLists.txt: add rostest, roseus to find_pakcage
  • Contributors: Kei Okada

0.0.9 (2015-08-03)

  • since ros-naoqi repository chages names (naoqi_sensors -. naoqi_sensors_py), we removed unstable pacagkes
  • [peppereus] Do not run test if no meshes are found
  • add sed command of correct spell
  • test/test-peppereus.l: add test codes
  • Contributors: Kei Okada, Ryohei Ueda, Akira Kako

0.0.8 (2015-07-16)

  • modify send-stiffness-controller method for pepper
  • modify ros::advertise to be consistent with ros::publish
  • modify speak method
  • [package.xml] add nao_interaction_msgs to depends
  • 0.0.7
  • Contributors: Kanae Kochigami, Kei Okada, Jiang Jun

0.0.7 (2015-06-11)

  • add speak method
  • [pepper-interface.l] add error-vector method, this requires https://github.com/ros-naoqi/naoqi_bridge/pull/37
  • [peppereus] Compilation does not fail even though pepper_urdf is not installed because the package is not yet released
  • [peppereus/CMakeLists.txt] run pepper.l only when pepper_meahes found
  • [CMakeLists.txt, pepper.yaml] generate pepper model from pepper_description
  • [package.xml] add more depends
  • [.gitignore] ignore dae file too
  • [peppereus/pepper-interface.l] add :play-audio-file and :set-master-volume
  • Contributors: Kanae Kochigami, Kei Okada, Ryohei Ueda

0.0.6 (2015-04-10)

  • pepper-init added
  • Contributors: kochigami

0.0.5 (2015-04-08)

  • change nao_msgs to naoqi_msgs
  • Contributors: Jiang Jun

0.0.4 (2015-01-30)

0.0.3 (2015-01-09)

0.0.2 (2015-01-08)

  • use package:// for pepper.l
  • add .gitignore
  • add CMakeLists.txt package.xml pepper-interface.l
  • Contributors: Kei Okada

0.0.1 (2014-12-25)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged peppereus at answers.ros.org

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2019-03-22
Dev Status DEVELOPED
Released RELEASED

Package Description

The pepper_bringup package

Additional Links

No additional links.

Maintainers

  • Kei Okada

Authors

No additional authors.

peppereus

This is a NAO-specific package for roseus interface.

How to make pepper model on euslisp

Install pepper mesh files with manual approval of license

sudo apt-get install ros-<ros version>-pepper-meshes
catkin build

Control Pepper via roseus

(load "package://peppereus/pepper-interface.l") ;; load modules
(setq *pepper* (pepper))          ;; creat a robot model
(setq *ri* (instance pepper-interface :init)) ;; make connection to the real robot
(objects (list *pepper*))        ;; display the robot model

or

(load "package://peppereus/pepper-interface.l") ;; load modules
(pepper-init)

How to try methods

  1. roslaunch jsk_pepper_startup.launch
  2. Please refer to Control Pepper via roseus.
  3. Please try methods, you can refer to the explanations below how to try them. If there is a sign of kochigami-develop, please follow Interface when controlling NAO and Pepper via roseus.

Methods

Tablet

By using tablet-related methods, we can show image, app, html file and web page on the tablet.

Trouble Shooting

  • How to log in to a robot?
ssh nao@<Your robot IP>

  • How to send a file to a robot?
scp <file path of your local PC> nao@<Your robot IP>:/home/nao/.local/share/PackageManager/apps/img/html/

  • If this kind of error occurs at tablet.launch, please re-launch the program.
[ERROR] [1543212108.209135]: Exception caught:
    ALTabletService::showImage
        module destroyed

Joints of Pepper

Here is a list of joints when accessing Pepper. ex:

(send *pepper* :reset-pose)
=> #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 85.0 -10.0 70.0 20.0 40.0 0.0 0.0)
       0    1    2   3    4     5     6     7    8     9    10   11   12   13  14

0: :knee-p
1: :hip-r
2: :hip-p
3: :larm :shoulder-p
4: :larm :shoulder-r
5: :larm :elbow-y
6: :larm :elbow-p
7: :larm :wrist-y
8: :rarm :shoulder-p
9: :rarm :shoulder-r
10: :rarm :elbow-y
11: :rarm :elbow-p
12: :rarm :wrist-y
13: :head :neck-y
14: :head :neck-p

Default poses

They are defined in pepper.yaml.

:bowing-pose

:greeting-pose

:look-foot

:nodding-pose

:ok-pose

:pointing-left-pose

:pointing-right-pose

:raise-left-hand-high

:raise-left-hand-low

:raise-right-hand-high

:raise-right-hand-low

:reset-pose

:show-bottom-camera

:show-head

:show-top-camera

:spread-hands-smally

:spread-hands-widely

:touch-speakers

:watching-pose

:wondering-pose

CHANGELOG

Changelog for package peppereus

1.1.0 (2017-07-16)

1.0.9 (2016-11-09)

1.0.8 (2016-11-08)

1.0.7 (2016-11-02)

  • [naoqieus, peppereus] delete wheel controller
  • [jsk_naoqi_robot] add roseus in find_package
  • add controllers
  • rotation of rleg endcoords modified
  • [peppereus] add head, larm, rarm, rleg end coords (#637)
  • Contributors: Kanae Kochigami

1.0.6 (2016-06-17)

1.0.5 (2016-04-18)

  • move send-stiffness-controller, servo-on, servo-off methods to naoqi-interface
  • Contributors: Kanae Kochigami

1.0.4 (2016-03-21)

1.0.3 (2016-03-05)

  • modify service type
  • add :show-app, :show-webview, :s(g)et-show-image-folder-path
  • add :show-image, :show-webview, :hide-image
  • Contributors: Kanae Kochigami

1.0.2 (2016-02-14)

1.0.1 (2015-11-19)

  • move peppereus under jsk_naoqi_robot
  • naoeus,peppereus: package.xml: fix typo in run_depend, naoqi->naoqieus, nap_apps->nao_apps
  • add naoqieus/cmake/compile_naoqi_modeol.cmake
  • Contributors: Kei Okada, Masahiro Bando

1.0.0 (2015-11-06)

  • [pepper-interface.l] update :go-pos for new NoaQi drivers using move_base_simple/goal
  • [pepper-interface.l] update joint action server name space for newer pepper_bringup
  • Contributors: Kei Okada

0.0.13 (2015-11-06)

0.0.12 (2015-11-06)

0.0.11 (2015-09-01)

0.0.10 (2015-08-16)

  • do not add naoqi_driver in find_package
  • pepper-interface.l: use naoqi_bridge_msgs, but if not found use naoqi_msgs
  • CMakeLists.txt, package.xml: add nao_interaction_msgs
  • add depends to naoqi_driver
  • roseus/CMakeLists.txt: add rostest, roseus to find_pakcage
  • Contributors: Kei Okada

0.0.9 (2015-08-03)

  • since ros-naoqi repository chages names (naoqi_sensors -. naoqi_sensors_py), we removed unstable pacagkes
  • [peppereus] Do not run test if no meshes are found
  • add sed command of correct spell
  • test/test-peppereus.l: add test codes
  • Contributors: Kei Okada, Ryohei Ueda, Akira Kako

0.0.8 (2015-07-16)

  • modify send-stiffness-controller method for pepper
  • modify ros::advertise to be consistent with ros::publish
  • modify speak method
  • [package.xml] add nao_interaction_msgs to depends
  • 0.0.7
  • Contributors: Kanae Kochigami, Kei Okada, Jiang Jun

0.0.7 (2015-06-11)

  • add speak method
  • [pepper-interface.l] add error-vector method, this requires https://github.com/ros-naoqi/naoqi_bridge/pull/37
  • [peppereus] Compilation does not fail even though pepper_urdf is not installed because the package is not yet released
  • [peppereus/CMakeLists.txt] run pepper.l only when pepper_meahes found
  • [CMakeLists.txt, pepper.yaml] generate pepper model from pepper_description
  • [package.xml] add more depends
  • [.gitignore] ignore dae file too
  • [peppereus/pepper-interface.l] add :play-audio-file and :set-master-volume
  • Contributors: Kanae Kochigami, Kei Okada, Ryohei Ueda

0.0.6 (2015-04-10)

  • pepper-init added
  • Contributors: kochigami

0.0.5 (2015-04-08)

  • change nao_msgs to naoqi_msgs
  • Contributors: Jiang Jun

0.0.4 (2015-01-30)

0.0.3 (2015-01-09)

0.0.2 (2015-01-08)

  • use package:// for pepper.l
  • add .gitignore
  • add CMakeLists.txt package.xml pepper-interface.l
  • Contributors: Kei Okada

0.0.1 (2014-12-25)

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged peppereus at answers.ros.org