Ruthrash / Pepper_TOM

Theory of mind experiments using Pepper

Pepper and Theory of Mind Experiments

Description

Contains simulation and pereception software packages used for conducting experiments in simulation.

Dependencies

• ROS(Melodic)
• Gazebo9
• CUDA(for YOLO and openPose)
• CUDNN(for Openpose and face recognition)
• Python Face Recognition

Usage

Assuming you have installed ROS(and gazebo) and that you are using an Ubuntu machine

mkdir -p ~/pepper_ws/src
cd ~/pepper_ws/src 
catkin_init_workspace
git clone --recurse-submodules https://github.com/Ruthrash/Pepper_TOM

Building OpenPose- Follow installation instructions or,

cd ~/pepper_ws/src/Pepper_and_TOM/openpose
mkdir build 
cd build 
cmake ../
make -j`nproc`
sudo make install

Building ROS packages

cd ~/pepper_ws
catkin_make_isolated 

Before using the packages inside the workspace

source ~/pepper_ws/devel_isolated/setup.bash

Running Simulation

roslaunch pepper_gazebo_plugin pepper_gazebo.launch