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--- user:kserrakh [2018/06/28 08:52]
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 95: / Line 99: @@
   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/
   python serveurhttp.py
 and open a browser and go directly to
-  http://0.0.0.0:9999
+  http://your_ip_address:9999
 to open the web streaming on the tablet, run in different terminals the following commands or use "command &"
@@ Line 108: / Line 112: @@
   rosrun web_video_server web_video_server
-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/
   python modele_interaction.py
@@ Line 170: / Line 174: @@
 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}}