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Package Summary

Bring-up the dcm driver to control Pepper

Package Summary

Bring-up the dcm driver to control Pepper

Package Summary

Bring-up the dcm driver to control Pepper

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

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

catkin_make

How to use it

Trajectory control

roslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:=<ROBOT_IP>

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ROBOT_IP>

Control via MoveIt

roslaunch pepper_moveit_config moveit_planner.launch

Control via 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:

roslaunch pepper_dcm_bringup pepper_dcm_bringup_position.launch robot_ip:=<ROBOT_IP>

rostopic pub /pepper_dcm/HeadYaw_position_controller/command std_msgs/Float64 "data: 1"


2019-12-07 12:54