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peppereus package from jsk_robot repo

aeroeus jsk_aero_startup baxtereus jsk_baxter_desktop jsk_baxter_startup jsk_baxter_web fetcheus jsk_fetch_startup jsk_201504_miraikan jsk_nao_startup jsk_pepper_startup nao_jsk_teleop naoeus naoqieus peppereus jsk_pr2_accessories jsk_pr2_calibration jsk_pr2_desktop jsk_pr2_startup pr2_base_trajectory_action jsk_robot jsk_robot_startup jsk_robot_utils roseus_remote

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2019-05-23
Dev Status DEVELOPED
Released RELEASED

Package Description

The pepper_bringup package

Additional Links

No additional links.

Maintainers

  • Kei Okada

Authors

No additional authors.
jsk_naoqi_robot/peppereus/README.md

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.

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

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 naoqieus
1 pepper_description
2 rostest
1 catkin
1 pepper_bringup

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
jsk_201504_miraikan github-jsk-ros-pkg-jsk_robot
jsk_robot github-jsk-ros-pkg-jsk_robot

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged peppereus at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.

peppereus package from jsk_robot repo

aeroeus jsk_aero_startup baxtereus jsk_baxter_desktop jsk_baxter_startup jsk_baxter_web fetcheus jsk_fetch_startup jsk_201504_miraikan jsk_nao_startup jsk_pepper_startup nao_jsk_teleop naoeus naoqieus peppereus jsk_pr2_accessories jsk_pr2_calibration jsk_pr2_desktop jsk_pr2_startup pr2_base_trajectory_action jsk_robot jsk_robot_startup jsk_robot_utils roseus_remote

API Docs
Browse Code
Wiki

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2019-05-23
Dev Status DEVELOPED
Released RELEASED

Package Description

The pepper_bringup package

Additional Links

No additional links.

Maintainers

  • Kei Okada

Authors

No additional authors.
jsk_naoqi_robot/peppereus/README.md

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.

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

CHANGELOG

Could not convert RST to MD: No such file or directory - pandoc

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

Deps Name
1 naoqieus
1 pepper_description
2 rostest
1 catkin
1 pepper_bringup

System Dependencies

No direct system dependencies.

Dependant Packages

Name Repo Deps
jsk_201504_miraikan github-jsk-ros-pkg-jsk_robot
jsk_robot github-jsk-ros-pkg-jsk_robot

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged peppereus at answers.ros.org