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--- 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>
 sudo apt-get install ros-kinetic-octomap
@@ Line 91: / Line 95: @@
 ====== 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
   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/
   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}}