Differences

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--- smarthome:xaal_ros_pepper [2018/03/06 16:44]
mai
+++ smarthome:xaal_ros_pepper [2020/07/03 17:33] (current)
mai ↷ Links adapted because of a move operation
@@ Line 1: / Line 1: @@
-20180118: Current status naoqi can be imported, and web_video_server can boradbast kinect video and we can see the skeleton on rviz
+====== Combining Pepper and the smarthome: Link ROS and xAAL ======
-====== Running the Demo ======
+20180118: Current status naoqi can be imported, and web_video_server can boradbast kinect video and we can see the skeleton on rviz
+The source address is : https://redmine.telecom-bretagne.eu/projects/xaalros/repository?utf8=%E2%9C%93&rev=pepper
-  - To start the fall detection with kinect, run in different terminals the following commands or use "command &":
+===== Running the Demo =====
+  - To start the fall detection with kinect, please plug the USB cable of Kinect into the left USB port of the computer, please make sure that the LED light on the cable of Kinect is green.
+Then run in different terminals the following commands or use "command &":
 <code>roscore
 rosrun openni_tracker openni_tracker
@@ Line 11: / Line 16: @@
 In order to follow the movement of the person, the openni tracker first needs to calibrate the person shown before the camera and extracts the skeleton of the person. To realize this, the user can use a "surrender" posture before the camera to help the process find exactly the position of the skeleton.
-  - To start the fall detection with sensfloor, run in another terminal, choose one of the two methods:
+To open the web streaming
-     * With the Sensfloor Receiver:
+  rosrun web_video_server web_video_server
+and open a browser and go directly to
+  http://0.0.0.0:8080/stream_viewer?topic=/camera/rgb/image_color
+or see all available images on
+  http://0.0.0.0:8080
+  - To start the fall detection with sensfloor:
+     * With the Sensfloor Receiver, please plug the sensfloor recever into the USB port of the computer.
+then run in another terminal, choose one of the two methods:
 <code>cd /home/user/P204/xaal/code/C/trunk/xaafloor
 sudo chmod 777 /dev/ttyUSB0
@@ Line 18: / Line 33: @@
 </code>
 Because using the USB device in ubuntu system needs a root permission, so a "chmod" is used to change the execution mode.
+If you see the result:
+"Device: 920de19d-63ac-451e-9c42-7eb7e48c0f90"
+It means that it works normally.
      * Or With the Sensfloor Server:
+Please use another computer to work as a gateway, because this one need to be connected with LABO_SID
 <code>cd /home/user/P204/xaal/code/C/trunk/xaafloor
 ./xaafloor -S 192.168.5.5 -P 5000 -a 224.0.29.200 -p 1235 -s xaal
@@ Line 26: / Line 45: @@
 Only one of the above connection is needed.
-  - To connect the Pepper, run in another terminal:
+  - To connect the Pepper, please first launch the pepper and wait for 2~5 minutes, until it says "on est neckmouque". Then please run in another terminal:
 <code>roslaunch pepper_bringup pepper_full_py.launch nao_ip:=10.77.3.19 roscore_ip:=127.0.0.1</code>
 Please make sure the IP address of pepper is correct. It can be verified by pressing the chest button of the Pepper one time.
-  - To start the controller, run in another terminal:
+  - To start the controller, firstly, goto the corresponding repository.
-<code>cd /home/user/P204/nao_xaal/
+<code>cd /home/user/P204/xaalros/scripts/</code>
-python controller.py</code>
+Then make sure that your are in the branch "pepper"
+<code>git branch (see the available branch)
+git checkout pepper (goto branch pepper)
+</code>
+  - Then, run in another terminal:
+<code>python controller.py</code>
+  - If a falling is detected, the lights will be turned on and an email will be sent to the contact list. In the email there is an IP address of the video stream, please tap on the address to see the actual scene captured by the robot.
 ===== Install =====
-  - Install [[ros|ros kinetic]] with command ''sudo apt-get install ros-kinetic-desktop-full''. 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)
+  - Install [[:ros|ros kinetic]] with command ''sudo apt-get install ros-kinetic-desktop-full''. 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)
   - For the kinect. Run:<code>
 sudo apt install ros-kinetic-openni-camera