Only released in EOL distros:
Package Summary
Bring-up the dcm driver to control Pepper
- Maintainer status: maintained
- Maintainer: Natalia Lyubova <natalia.lyubova AT gmail DOT com>
- Author: Konstantinos Chatzilygeroudis <costashatz AT gmail DOT com>, Karsten Knese <karsten.knese AT gmail DOT com>, Natalia Lyubova <natalia.lyubova AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-naoqi/pepper_dcm_robot/issues
- Source: git https://github.com/ros-naoqi/pepper_dcm_robot.git (branch: master)
Package Summary
Bring-up the dcm driver to control Pepper
- Maintainer status: developed
- Maintainer: Natalia Lyubova <natalia.lyubova AT gmail DOT com>
- Author: Konstantinos Chatzilygeroudis <costashatz AT gmail DOT com>, Karsten Knese <karsten.knese AT gmail DOT com>, Natalia Lyubova <natalia.lyubova AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-naoqi/pepper_dcm_robot/issues
- Source: git https://github.com/ros-naoqi/pepper_dcm_robot.git (branch: master)
Package Summary
Bring-up the dcm driver to control Pepper
- Maintainer status: developed
- Maintainer: Natalia Lyubova <natalia.lyubova AT gmail DOT com>
- Author: Konstantinos Chatzilygeroudis <costashatz AT gmail DOT com>, Karsten Knese <karsten.knese AT gmail DOT com>, Natalia Lyubova <natalia.lyubova AT gmail DOT com>
- License: BSD
- Bug / feature tracker: https://github.com/ros-naoqi/pepper_dcm_robot/issues
- Source: git https://github.com/ros-naoqi/pepper_dcm_robot.git (branch: master)
Contents
DCM Bringup for Pepper robot
The package contains launch and configuration files required to bring the robot's DCM Driver up and start the robot controllers. The package allows to control a robot from ROS, while communicating with Naoqi. You can control the robot either by calling DCM commands or ALMotion (by default).
Installation
- install dependencies
sudo apt-get install ros-indigo-pepper-robot ros-indigo-pepper-meshes
- go to a workspace/src
clone pepper_control
clone naoqi_dcm_driver
clone pepper_dcm_bringup
optionally, clone pepper_moveit_config
- compile all packages with
catkin_make
How to use it
Trajectory control
- start the DCM bringup providing the IP of your robot
roslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:=<ROBOT_IP>
- start Naoqi Driver (to get the odom frame) proving your robot's IP
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ROBOT_IP>
Control via MoveIt
start MoveIt! to control the robot via GUI
roslaunch pepper_moveit_config moveit_planner.launch
- check "Allow approximate IK solutions"
- control a planning_group via an interactive marker
Control via Actionlib
- you can send a trajectory to the desired controller (actionlib)
rosrun actionlib axclient.py <name of the goal topic of the action server>
example:
rosrun actionlib axclient.py /pepper_dcm/LeftArm_controller/follow_joint_trajectory/goal
To choose the controllers you want to load, modify pepper_control/launch/pepper_control_trajectory.launch. The list of implemented controllers, you can find in pepper_control/config/pepper_trajectory_control.yaml. You can start and stop the ros-controllers using the rqt plugin ControllerManager.
Position control
To command joints positions via ROS:
- start the DCM bringup proving your robot's IP (be aware that the package will stop Autonomous Life on your robot):
roslaunch pepper_dcm_bringup pepper_dcm_bringup_position.launch robot_ip:=<ROBOT_IP>
- send a position to the desired controller, for example
rostopic pub /pepper_dcm/HeadYaw_position_controller/command std_msgs/Float64 "data: 1"
