Pepper ROS Navigation nodes
Bringing it up
export NAO_IP=<pepper IP>
ssh nao@<pepper IP>
, then:
$ nao stop
$ naoqi-bin --disable-life
ssh nao@<pepper IP>
, then:
qicli call ALMotion.wakeUp
Finally:
roslaunch pepper_bringup pepper_full.launch
Teleop
Required packages:
ros-<version>-joy
nao_teleop
: http://wiki.ros.org/nao_teleop
Then:
$ roslaunch nao_teleop teleop_joy.launch
Note: to enable the joystick control, press button 10 on the joystick, not 9.
Mapping
Using gmapping
:
$ roslaunch pepper_plymouth_nao mapping.launch
Localisation
First, the map server:
$ rosrun map_server map_server <path to map>/map.yaml
Then, AMCL:
$ rosrun amcl amcl scan:=/pepper_robot/laser
To save the map, run:
$ rosrun map_server map_saver
before stopping gmapping
.
Navigation
Both localisation (using AMCL
) and planning are provided from:
roslaunch pepper_nav_bringup nav.launch
A custom map can be provided:
roslaunch pepper_nav_bringup nav.launch map:=<full path to your map.yaml>
3D Perception
Until it is officially released, you might need to manually install pepper_bringup
with the perception
launch file: get it here.
Then it works 'out of the box'.
Building a 3D voxel octomap
You need the 3D perception pipeline up and running. See above.
- First:
$ sudo apt install ros-kinetic-octo*
- then install by hand octomap_mapping
- then:
$ roslaunch pepper_nav_bringup octomap_mapping.launch