Differences
This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision | ||
user:kserrakh [2018/06/28 07:50] kserrakh |
user:kserrakh [2019/07/08 16:51] (current) mai Tag0 Added: pepper,ros,tutorial,xaal |
||
---|---|---|---|
Line 41: | Line 41: | ||
- | - 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]]. 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> | - For the map. Run:<code> | ||
sudo apt-get install ros-kinetic-octomap | sudo apt-get install ros-kinetic-octomap | ||
Line 91: | Line 95: | ||
====== Humain Robot interaction ====== | ====== Humain Robot interaction ====== | ||
- | launch x3d server : | + | run x3d server : |
cd /home/user/Bureau/khalil serrakh/Khalil SERRAKH/Test/Dialogue Homme Machine/Serveur IP clВ XXD | 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 | java -jar deltadore.xxd.ipgateway.jar 54321 /dev/ttyUSB0 | ||
- | run in terminal: | + | |
+ | 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/ | cd /home/user/Bureau/khalil\ serrakh/Khalil\ SERRAKH/Logiciels/peppermajordome/scripts/ | ||
python modele_interaction.py | 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. | 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}} |