First, install the following packages in your catkin workspace:
git clone https://github.com/ros-naoqi/naoqi_bridge.git
git clone https://github.com/OctoMap/octomap_msgs.git
git clone https://github.com/RIS-WITH/nao_interaction_msgs.git
git clone https://github.com/RIS-WITH/naoqi_driver.git
git clone https://github.com/ros-naoqi/naoqi_bridge_msgs.git
git clone -b melodic-devel https://github.com/ros-naoqi/libqi.git
git clone -b melodic-devel https://github.com/ros-naoqi/libqicore.git
Then clone the following in your workspace:
git clone https://github.com/ros-naoqi/pepper_meshes
Before compiling everything, run:
catkin_make pepper_meshes_meshes
This will create a mesh
folder in your workspace in devel/tmp/meshes/1.0/
. Copy the mesh
folder in the pepper_meshes
ROS package using the mv
command.
You can now compile the entire workspace.
The current package should be installed on pepper nvidia computer in the same workspace than the realsense package.
We advise you to create a setup.sh
file in your workspace. In there, paste the following:
export MYIP="$(ip route get 1.2.3.4 | awk '{print $7}')"
export MYINTERFACE="$(ip route get 1.2.3.4 | awk '{print $5}')"
export ROS_MASTER_URI=http://$MYIP:11311
export PYTHONPATH=${PYTHONPATH}:/usr/local/robots/pepper/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages/
On your computer you can simply launch:
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=mummer6.laas.fr roscore_ip:=$MYIP network_interface:=$MYINTERFACE
Then on the nvidia device in the realsence workspace launch:
roslaunch pepper_utils realsense.launch
Do not forgot to export the ROS_MASTER_URI env variable !
The robot is ready! You can use the strat.py
script to desactivate default pepper features like the artificial life if you need to.