Only released in EOL distros:  

pepper_robot: pepper_bringup | pepper_description | pepper_sensors_py

Package Summary

The pepper_sensors package

pepper_robot: pepper_bringup | pepper_description | pepper_sensors_py

Package Summary

The pepper_sensors package

pepper_robot: pepper_bringup | pepper_description | pepper_sensors_py

Package Summary

The pepper_sensors package

Pepper-specific sensors

This package contains nodes and launch file to retrieve data from the sensors specific to Pepper.

Nodes

Laser

Pepper has 6 laser sensors. Three of them watch the robot's surroundings and project their line horizontally. They are called:

  • srd_front
  • srd_left
  • srd_right

Two of them project vertical lines in front of the robot and are called

  • ground_left (on the left side of the robot, project towards the right)
  • ground_right (on the right side of the robot, project towards the left)

The last one projects its line in front of the robot towards the ground and is called:

  • shovel

Published Topics

~pepper/laser/shovel/scan (sensor_msgs/Laserscan)
  • Laserscan topic for shovel laser
~pepper/laser/ground_left/scan (sensor_msgs/Laserscan)
  • Laserscan topic for ground left laser
~pepper/laser/ground_right/scan (sensor_msgs/Laserscan)
  • Laserscan topic for ground right laser
~pepper/laser/srd_front/scan (sensor_msgs/Laserscan)
  • Laserscan topic for surrounding front laser
~pepper/laser/srd_left/scan (sensor_msgs/Laserscan)
  • Laserscan topic for surrounding left laser
~pepper/laser/srd_right/scan (sensor_msgs/Laserscan)
  • Laserscan topic for surrounding right laser
~pepper/laser/shovel/pointcloud (sensor_msgs/PointCloud2)
  • Pointcloud2 topic for shovel laser
~pepper/laser/ground_left/pointcloud (sensor_msgs/PointCloud2)
  • Pointcloud2 topic for ground left laser
~pepper/laser/ground_right/pointcloud (sensor_msgs/PointCloud2)
  • Pointcloud2 topic for ground right laser
~pepper/laser/srd_front/pointcloud (sensor_msgs/PointCloud2)
  • Pointcloud2 topic for surrounding front laser
~pepper/laser/srd_left/pointcloud (sensor_msgs/PointCloud2)
  • Pointcloud2 topic for surrounding left laser
~pepper/laser/srd_right/pointcloud (sensor_msgs/PointCloud2)
  • Pointcloud2 topic for surrounding right laser

Parameters

pointcloud (boolean, default: True)
  • Determines if the node should publish laser in sensor_msgs/PointCloud2 messages
laserscan (boolean, default: False)
  • Determines if the node should publish laser in sensor_msgs/Laserscan messages

Camera

Wraps the camera node from naoqi_sensors

Launch files

Sonar

Starts two sonar nodes (from naoqi_sensors) to get the data from the front and the back sonar

Laser

Starts the laser node

Camera

Starts the camera node

Wiki: pepper_sensors_py (last edited 2015-08-03 15:32:42 by KarstenKnese)