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user:kserrakh [2018/06/28 08:41] 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 | ||
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java -jar deltadore.xxd.ipgateway.jar 54321 /dev/ttyUSB0 | java -jar deltadore.xxd.ipgateway.jar 54321 /dev/ttyUSB0 | ||
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- | 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 | ||
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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 |
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to open the web streaming on the tablet, run in different terminals the following commands or use "command &" | to open the web streaming on the tablet, run in different terminals the following commands or use "command &" | ||
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rosrun web_video_server web_video_server | rosrun web_video_server web_video_server | ||
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- | run in terminal: | + | 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 | ||
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===== Installing ===== | ===== Installing ===== | ||
+ | <code> | ||
sudo apt-get install ros-kinetic-teleop-twist-keyboard | sudo apt-get install ros-kinetic-teleop-twist-keyboard | ||
+ | </code> | ||
===== Running ===== | ===== Running ===== | ||
+ | <code> | ||
rosrun teleop_twist_keyboard teleop_twist_keyboard.py | rosrun teleop_twist_keyboard teleop_twist_keyboard.py | ||
+ | </code> | ||
===== Controls ===== | ===== Controls ===== | ||
See the on-screen instructions: | See the on-screen instructions: | ||
+ | <code> | ||
Reading from the keyboard and Publishing to Twist! | Reading from the keyboard and Publishing to Twist! | ||
--------------------------- | --------------------------- | ||
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CTRL-C to quit | 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}} |