====== Navigation strategy with pepper ======


===== Running the Demo =====

run in different terminals the following commands or use "command &":
<code>
roscore
</code>
to connect Pepper to ROS (the parameter network_interface needs to be changed according to the network interface with which you connect to the robot Pepper, ie wireless or wired, to check with ifconfig): 
<code>
cd /opt/ros/kinetic/share/naoqi_driver/launch/
roslaunch naoqi_driver.launch nao_ip:=10.77.3.19 network_interface:=wlp2s0
</code>
To apply the calibration parameters of the 3D camera :    
  source /home/user/catkin_ws/devel/setup.bash 
  roslaunch extrinsic_calibration register_depth.launch
You can check with rosrun rviz rviz : add a PointCloud2 on topic /naoqi_driver/camera/depth_registered/points and in Global Options > Fixed Frame : odom.
  
To convert a 3D Point Cloud (from topic /naoqi_driver/camera/depth_registered/points) into a 2D laser scan :
  cd /opt/ros/kinetic/share/pointcloud_to_laserscan/launch
  roslaunch sample_node.launch 

You can check with rosrun rviz rviz : add a LaserScan on topic /camera/scan and in Global Options > Fixed Frame : odom.
  

To start navigation (ie packages AMCL for localisation and move_base for planification)  :    
  cd /home/user/catkin_ws/src/pepper_plymouth_ros/launch/
  source /opt/ros/kinetic/setup.bash
  roslaunch nav.launch
  

Then, run the user interface (to give goal points) in another terminal:   
  cd /home/user/Bureau/khalil\ serrakh/Khalil\ SERRAKH/Logiciels/peppermajordome/scripts/
  python navigation.py

Pepper shows on its screen a map of the apartment and asks "ou veux-tu que j'aille?". The locations defined are : la cuisine, le salon, la salle à manger, l'entrée de la maison, reviens à ta place.
These locations can be changed in file navigation.py in function init

===== Install =====


  - Install [[ros|ros kinetic]]. The details can be read here : http://wiki.ros.org/kinetic/Installation/Ubuntu.  You will have created a catkin workspace CATKIN_WS (for instance ~/catkin_ws) <code>
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get install ros-kinetic-desktop-full
</code>
  - For the map. Run:<code>
sudo apt-get install ros-kinetic-octomap
sudo apt-get install ros-kinetic-map-server
</code>
  - For the localisation. Run:<code>
sudo apt-get install ros-kinetic-amcl
sudo apt-get install ros-kinetic-humanoid-localization
</code>
In order to perform an extrinsic calibration of RGB and Depth cameras of Pepper robot, you can use either our https://github.com/ros-naoqi/extrinsic_calibration package or follow the ROS tutorial (http://wiki.ros.org/openni_launch/Tutorials/ExtrinsicCalibration).
<code>
roslaunch extrinsic_calibration register_depth.launch
</code>




  - Install ROS packages for NAO with the instructions from http://wiki.ros.org/nao_robot, https://github.com/ros-naoqi/nao_robot, http://wiki.ros.org/nao/Tutorials/Installation
      - download from [[https://developer.softbankrobotics.com/us-en/downloads/nao-v3|aldebaran]] the Python SDK the compressed file pynaoqi-python2.7-2.5.5.5-linux64 and install according to the instructions http://doc.aldebaran.com/2-5/dev/python/install_guide.html. In details :
      - Set the environnement variable PYTHONPATH to /path/to/python-sdk/lib/python2.7/site-packages by doing for example: <code>
export PYTHONPATH=${PYTHONPATH}:/home/user/NaoPepper/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages </code>
      - check the installation with python <code>
import naoqi</code> If no error message is written, the library is imported. Else read http://doc.aldebaran.com/2-5/dev/python/tips-and-tricks.html#python-sdk-troubleshooting. 
      - ROS packages for the Nao robot <code>
sudo apt-get install ros-kinetic-move-base-msgs ros-kinetic-octomap ros-kinectic-octomap-msgs ros-kinetic-humanoid-msgs ros-kinetic-humanoid-nav-msgs ros-kinetic-camera-info-manager ros-kinetic-camera-info-manager-py
sudo apt-get install ros-kinetic-nao-robot </code>
      - For Pepper, refer to http://wiki.ros.org/pepper


NOTE
''sudo apt-get install ros-driver-base'' did not work. Package [[http://wiki.ros.org/driver_base|driver-base]] is deprecated and is not compatible with ros kinetic













  * How to check the connection with pepper?
<code>ping pepper.local
ping 10.77.3.19
</code>
====== Humain Robot interaction ======

run x3d server :
  cd /home/user/Bureau/khalil serrakh/Khalil SERRAKH/Test/Dialogue Homme Machine/Serveur IP clВ XXD
  java -jar deltadore.xxd.ipgateway.jar 54321 /dev/ttyUSB0
  
to display local images on the touch screen, change in the program serveurhttp.py the HOST variable to input your IP address :
  cd /home/user/Bureau/khalil\ serrakh/Khalil\ SERRAKH/Logiciels/peppermajordome/scripts/
  python serveurhttp.py 
  
and open a browser and go directly to 
  http://your_ip_address:9999
  
to open the web streaming on the tablet, run in different terminals the following commands or use "command &"
  roscore
  cd /opt/ros/kinetic/share/naoqi_driver/launch/
  roslaunch naoqi_driver.launch nao_ip:=10.77.3.19 network_interface:=wlp2s0
  rosrun web_video_server web_video_server
  
Make sure you use the right dialogue.txt and modele_interaction.py, then run in terminal:   
  cd /home/user/Bureau/khalil\ serrakh/Khalil\ SERRAKH/Logiciels/peppermajordome/scripts/
  python modele_interaction.py
  
The robot Pepper waits for us to say "Bonjour" or tries to detect a person next to him at a distance < 1m. Then the robot guides the person on the possible interactions.




====== Control robot by using keyboard ======

Generic keyboard teleop for twist robots.

===== Installing =====
<code>
sudo apt-get install ros-kinetic-teleop-twist-keyboard
</code>
===== Running =====
<code>
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
</code>
===== Controls =====
See the on-screen instructions: 
<code>
Reading from the keyboard  and Publishing to Twist!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
anything else : stop

CTRL-C to quit
</code>

====== Octomap ====== 
General information about OctoMap is available at http://octomap.github.io and in the publication "OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees" by A. Hornung, K. M. Wurm, M. Bennewitz, C. Stachniss, and W. Burgard (Autonomous Robots Journal, 2013). 
===== Installing =====
<code>
sudo apt-get install ros-kinetic-octomap
</code>
===== Running =====
To create the static map.
Run :
to connect Pepper to ROS (the parameter network_interface needs to be changed according to the network interface with which you connect to the robot Pepper, ie wireless or wired, to check with ifconfig): 
<code>
cd /opt/ros/kinetic/share/naoqi_driver/launch/
roslaunch naoqi_driver.launch nao_ip:=10.77.3.19 network_interface:=wlp2s0
</code>
To apply the calibration parameters of the 3D camera :    
<code>
source /home/user/catkin_ws/devel/setup.bash 
roslaunch extrinsic_calibration register_depth.launch
</code>
start Octomap
<code>
roslaunch octomap_server octomap_mapping.launch
</code>
Moving the robot
<code>
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
</code>
To save the map, run:
<code>
rosrun octomap_server octomap_saver -f /home/user/Bureau/my_map_octomap.bt
</code>
before **stopping Octomap**.
{{tag>pepper ros tutorial xaal}}