pepper_dcm_robot repository

Repository Summary

Checkout URI https://github.com/ros-naoqi/pepper_dcm_robot.git
VCS Type git
VCS Version master
Last Updated 2017-11-16
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pepper_dcm_bringup 0.0.5

README

pepper_dcm_robot =============

DCM stack integrating tools to control Pepper robot

Installation

  • install dependencies
sudo apt-get install ros-indigo-pepper-robot ros-indigo-pepper-meshes ros-indigo-pepper-control ros-indigo-naoqi-dcm-driver

sudo apt-get install ros-indigo-pepper-dcm-bringup

sudo apt-get install ros-indigo-pepper-moveit-config

How to use it

Trajectory control

To command your robot remotely with ROS control:

  • start the DCM bringup proving your robot\'s IP (be aware that the package will stop Autonomous Life on your robot)
roslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:=<ROBOT_IP>

  • start Naoqi Driver (to get the odom frame) proving your robot\'s IP
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ROBOT_IP>

Control via MoveIt

  • start Moveit! to control the robot via GUI
roslaunch pepper_moveit_config moveit_planner.launch

  • check \"Allow approximate IK solutions\"
  • control a planning_group via an interactive marker

Control via Actionlib

  • you can send a trajectory to the desired controller (actionlib)
rosrun actionlib axclient.py <name of the goal topic of the action server>

example:

rosrun actionlib axclient.py /pepper_dcm/LeftArm_controller/follow_joint_trajectory/goal

To choose the controllers you want to load, modify pepper_control/launch/pepper_control_trajectory.launch. The list of implemented controllers, you can find in pepper_control/config/pepper_trajectory_control.yaml. You can start and stop the ros-controllers using the rqt plugin ControllerManager.

Position control

To command joints positions via ROS:

  • start the DCM bringup proving your robot\'s IP (be aware that the package will stop Autonomous Life on your robot):
roslaunch pepper_dcm_bringup pepper_dcm_bringup_position.launch robot_ip:=<ROBOT_IP>

  • send a position to the desired controller, for example
rostopic pub /pepper_dcm/HeadYaw_position_controller/command std_msgs/Float64 "data: 1"

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-naoqi/pepper_dcm_robot.git
VCS Type git
VCS Version master
Last Updated 2017-11-16
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pepper_dcm_bringup 0.0.5

README

pepper_dcm_robot =============

DCM stack integrating tools to control Pepper robot

Installation

  • install dependencies
sudo apt-get install ros-indigo-pepper-robot ros-indigo-pepper-meshes ros-indigo-pepper-control ros-indigo-naoqi-dcm-driver

sudo apt-get install ros-indigo-pepper-dcm-bringup

sudo apt-get install ros-indigo-pepper-moveit-config

How to use it

Trajectory control

To command your robot remotely with ROS control:

  • start the DCM bringup proving your robot\'s IP (be aware that the package will stop Autonomous Life on your robot)
roslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:=<ROBOT_IP>

  • start Naoqi Driver (to get the odom frame) proving your robot\'s IP
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ROBOT_IP>

Control via MoveIt

  • start Moveit! to control the robot via GUI
roslaunch pepper_moveit_config moveit_planner.launch

  • check \"Allow approximate IK solutions\"
  • control a planning_group via an interactive marker

Control via Actionlib

  • you can send a trajectory to the desired controller (actionlib)
rosrun actionlib axclient.py <name of the goal topic of the action server>

example:

rosrun actionlib axclient.py /pepper_dcm/LeftArm_controller/follow_joint_trajectory/goal

To choose the controllers you want to load, modify pepper_control/launch/pepper_control_trajectory.launch. The list of implemented controllers, you can find in pepper_control/config/pepper_trajectory_control.yaml. You can start and stop the ros-controllers using the rqt plugin ControllerManager.

Position control

To command joints positions via ROS:

  • start the DCM bringup proving your robot\'s IP (be aware that the package will stop Autonomous Life on your robot):
roslaunch pepper_dcm_bringup pepper_dcm_bringup_position.launch robot_ip:=<ROBOT_IP>

  • send a position to the desired controller, for example
rostopic pub /pepper_dcm/HeadYaw_position_controller/command std_msgs/Float64 "data: 1"

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-naoqi/pepper_dcm_robot.git
VCS Type git
VCS Version master
Last Updated 2017-11-16
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
pepper_dcm_bringup 0.0.5

README

pepper_dcm_robot =============

DCM stack integrating tools to control Pepper robot

Installation

  • install dependencies
sudo apt-get install ros-indigo-pepper-robot ros-indigo-pepper-meshes ros-indigo-pepper-control ros-indigo-naoqi-dcm-driver

sudo apt-get install ros-indigo-pepper-dcm-bringup

sudo apt-get install ros-indigo-pepper-moveit-config

How to use it

Trajectory control

To command your robot remotely with ROS control:

  • start the DCM bringup proving your robot\'s IP (be aware that the package will stop Autonomous Life on your robot)
roslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:=<ROBOT_IP>

  • start Naoqi Driver (to get the odom frame) proving your robot\'s IP
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ROBOT_IP>

Control via MoveIt

  • start Moveit! to control the robot via GUI
roslaunch pepper_moveit_config moveit_planner.launch

  • check \"Allow approximate IK solutions\"
  • control a planning_group via an interactive marker

Control via Actionlib

  • you can send a trajectory to the desired controller (actionlib)
rosrun actionlib axclient.py <name of the goal topic of the action server>

example:

rosrun actionlib axclient.py /pepper_dcm/LeftArm_controller/follow_joint_trajectory/goal

To choose the controllers you want to load, modify pepper_control/launch/pepper_control_trajectory.launch. The list of implemented controllers, you can find in pepper_control/config/pepper_trajectory_control.yaml. You can start and stop the ros-controllers using the rqt plugin ControllerManager.

Position control

To command joints positions via ROS:

  • start the DCM bringup proving your robot\'s IP (be aware that the package will stop Autonomous Life on your robot):
roslaunch pepper_dcm_bringup pepper_dcm_bringup_position.launch robot_ip:=<ROBOT_IP>

  • send a position to the desired controller, for example
rostopic pub /pepper_dcm/HeadYaw_position_controller/command std_msgs/Float64 "data: 1"

CONTRIBUTING

No CONTRIBUTING.md found.