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user:kserrakh [2018/06/28 07:57]
kserrakh
user:kserrakh [2019/07/08 16:51] (current)
mai Tag0 Added: pepper,ros,tutorial,xaal
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-  - 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 94: Line 98:
   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
-to display local images on the touch screen :+   
 +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/​   cd /​home/​user/​Bureau/​khalil\ serrakh/​Khalil\ SERRAKH/​Logiciels/​peppermajordome/​scripts/​
   python serveurhttp.py ​   python serveurhttp.py ​
 +  ​
 and open a browser and go directly to  and open a browser and go directly to 
-  http://0.0.0.0:9999 +  http://your_ip_address:​9999 
- +   
-run in terminal: ​  +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}}
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