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Startup launch files for SoftBank's pepper robot.


Install packages

sudo apt-get install ros-indigo-pepper-robot ros-indigo-pepper-meshes

Bring up Pepper

You can start Pepper either with a C++ or Python version. The pepper_bringup package thus contains two launch files.

For starting the C++ version:

roslaunch pepper_bringup pepper_full.launch nao_ip:=<robot_ip> roscore_ip:=<roscore_ip> [network_interface:=<eth0|wlan0|vpn0>]

Similar, the Python version:

roslaunch pepper_bringup pepper_full_py.launch nao_ip:=<robot_ip> roscore_ip:=<roscore_ip>

As shown above, the launch files contain 3 parameters

  1. nao_ip : This is necessary for telling which robot to connect to.
  2. roscore_ip : Since there is no roscore running on the robot, we have to tell it the IP of the roscore to use.
  3. network_interface : By default, we assume that your computer is connected via eth0. When you are connected via WLAN or VPN, name the correct network interface here (eth1, wlan0, vpn0 etc). This is only available in the C++ version

See the naoqi_driver and naoqi_driver_py for further details.

Visualize your robot

When you have launched your robot correctly, you see a similar picture in RVIZ:

Pepper with rviz


2024-07-06 13:16