Pepper programming
Update of the HRI VM to use Pepper robot
Before proceeding with the installation of naoqi software
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- Add a new disk to the VM and name it as 'naoqi'.
- Use the Ubuntu utility Applications->Disks for an easy formatting and naming the disk.
- Make sure you have an Internet connection.
- Download the installation script naoqi_install.bash ***NEW***
(you can find it also in the robocupathome_pnp/script directory after a 'git pull')
Installation of naoqi software
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Run the installation script:
$> source naoqi_install.bash
Test ROS Naoqi driver installation in the VM
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Make sure your net configuration in the VM is "Bridged Adapter" and the adapter from the host connected to the robot is selected.
Set your PEPPER_IP variable, press Pepper chest button once to retrieve it.
$> export PEPPER_IP=<ip>
Launch naoqi_driver
$> roslaunch naoqi_driver naoqi_driver.launch nao_ip:=$PEPPER_IP network_interface:=enp0s3
$> rviz
Try to visualize the scan or other topics published by the naoqi node.
Test python Naoqi SDK installation in the VM
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$> python
import qi
If you don't see any error the installation is correct.
Test pepper_tools
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Assuming you have defined PEPPER_IP variable as in the test for ROS Naoqi driver:
$> cd $HOME_NAOQI/src/pepper_tools
For example, to test the laser reading:
$> cd laser
$> python getlaser.py
You will see readings of the (x,y) local coordinates of the one point laser.