Pepper programming

Update of the HRI VM to use Pepper robot

Before proceeding with the installation of naoqi software

=========================================================

- 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

=========================================================

Run the installation script:

$> source naoqi_install.bash

Test ROS Naoqi driver installation in the VM

============================================

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

============================================

$> python

import qi

If you don't see any error the installation is correct.

Test pepper_tools

=================

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.