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.

• :get-show-image-folder-path (naoqi_bridge [kochigami-develop])

• :hide-image (naoqi_bridge [kochigami-develop])

• :set-show-image-folder-path name (naoqi_bridge [kochigami-develop])

• :show-app app (naoqi_bridge [kochigami-develop])

• :show-image file (naoqi_bridge [kochigami-develop])

• :show-webview url (naoqi_bridge [kochigami-develop])

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

How to send angle vector

(send *pepper* :head :neck-y :joint-angle -10)
(send *ri* :angle-vector (send *pepper* :angle-vector)

How to send sequences of angle vector

(setq *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))
(setq *hello-pose1* #f(2.0 -2.0 -5.0 85.0 10.0 30.0 -0.5 30.0 -20.0 -10.0 70.0 20.0 40.0 30.0 0.0))
(setq *hello-pose2* #f(2.0 -2.0 -5.0 85.0 10.0 -70.0 -20.0 -40.0 0.0 -10.0 70.0 20.0 40.0 0.0 0.0))

(setq *hello-pose-list* (list *reset-pose* *hello-pose1* *hello-pose2* *reset-pose*))
(setq *hello-time-list* (list 2000 3000 4000 5000))

(send *ri* :angle-vector-sequence *hello-pose-list* *hello-time-list*)

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

:c-pose

:hiragana-tsu-pose

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)