pepper_dcm_robot

DCM stack integrating tools to control Pepper robot

Installation

• install dependencies

sudo apt-get install ros-indigo-pepper-robot ros-indigo-pepper-meshes ros-indigo-pepper-control ros-indigo-naoqi-dcm-driver

• then, install pepper_dcm_bringup or compile it from source

sudo apt-get install ros-indigo-pepper-dcm-bringup

• optionally, install pepper_moveit_config

sudo apt-get install ros-indigo-pepper-moveit-config

How to use it

To command your robot remotely with Ros control:

• be aware that the package will stop Autonomous Life on your robot.
• export your robot IP address

export NAO_IP=<your_robot_ip>

• then, start the DCM bringup

roslaunch pepper_dcm_bringup pepper_bringup.launch

• you can control the robot using Moveit! (install it previously)

roslaunch pepper_moveit_config moveit_planner.launch

• or you can send a trajectory to the desired controller (actionlib)

rosrun actionlib axclient.py <name of the goal topic of the action server>

example:

rosrun actionlib axclient.py /pepper_dcm/LeftArm_controller/follow_joint_trajectory/goal

To choose the controllers you want to load, modify pepper_control/launch/pepper_control_trajectory.launch. The list of implemented controllers, you can find in pepper_control/config/pepper_trajectory_control.yaml. You can start and stop the ros-controllers using the rqt plugin ControllerManager.