Lab book for work on the Robocup@Home Standard Platform League competition which uses the Pepper robot.<\/p>\n
I’m asked to look into:
\n– localisation
\n– navigation<\/p>\n
Earlier experiences with robots tell me that we need a simulator that allows us to easily run tests. And as we don’t yet have a pepper robot a simulator is a good start anyway. Gazebo is a ROS compatible simulator that seems suitable.<\/p>\n
Setting up a computer with Ubuntu 16.04.2 LTS and a GPU that can run Gazebo without crashing (a recurring problem with Linux GPU drivers in combination with Gazebo).<\/p>\n
Installing “ros kinetic” and reading tutorials:<\/p>\n
Searching pepper specific packages:<\/p>\n After installing all pepper packages using:<\/p>\n and starting Gazebo:<\/p>\n and pressing ‘play’ the robot falls on its side and its joints all stay fixed.<\/p>\n Reading the Gazebo ROS tutorials on how to define a robot (the RRBot example):<\/p>\n Removing all ‘apt-get’ installed packages to see if the github repositories have better descriptions (additions that are not yet included in the ‘apt-get’ packages).<\/p>\n it turns out the meshes need to be installed using ‘apt-get’ because of copyright issues:<\/p>\n Now at least the joints move freely but pepper still falls when pressing ‘play’:<\/p>\n The controller should be able to fix that:<\/p>\n but for some reason I get these warnings:<\/p>\n The virtual sensors do work, images produced by the cameras:<\/p>\n depth information is given:<\/p>\n sonar information is given:<\/p>\n no laser scanners are found on the virtual robot.<\/p>\n 2017-05-03<\/strong><\/p>\n Don’t forget to install the control dependencies:<\/p>\n And we also seem to need:<\/p>\n When running this and pressing “play” the robot keeps its joints fixed and again falls to the ground.<\/p>\n In addition we get some errors:<\/p>\n 2017-05-04<\/strong><\/p>\n Installing ros-indigo-desktop-full and all pepper packages on Ubuntu 14.04 LTS. Had to add this to ~\/.bashrc:<\/p>\n and this<\/p>\n to get rid of errors. The Pepper robot doesn’t fall on it side anymore but this still gives errors:<\/p>\n [ERROR] [1493935732.766818945, 120.971000000]: MoveItSimpleControllerManager: Action client not connected: pepper_dcm\/Head_controller\/follow_joint_trajectory<\/p>\n [ERROR] [1493935752.895225026, 136.031000000]: MoveItSimpleControllerManager: Action client not connected: pepper_dcm\/Pelvis_controller\/follow_joint_trajectory<\/p>\n [ERROR] [1493935753.594489576, 136.554000000]: Exception while loading move_group capability ‘move_group\/MoveGroupPickPlaceAction’: According to the loaded plugin descriptions the class move_group\/MoveGroupPickPlaceAction with base class type move_group::MoveGroupCapability does not exist. Declared types are move_group\/ApplyPlanningSceneService move_group\/ClearOctomapService move_group\/MoveGroupCartesianPathService move_group\/MoveGroupExecuteService move_group\/MoveGroupExecuteTrajectoryAction move_group\/MoveGroupGetPlanningSceneService move_group\/MoveGroupKinematicsService move_group\/MoveGroupMoveAction move_group\/MoveGroupPlanService move_group\/MoveGroupQueryPlannersService move_group\/MoveGroupStateValidationService 2017-05-18<\/strong><\/p>\n Installing Ubuntu 14.04 on Dell XPS 15 laptop. Wireless drivers for BroadCom BCM43602 don’t work. With<\/p>\n only “Amsterdam Science Park” works, not eduroam\/uva. Using the steps Jonathan suggested:<\/p>\n but still no movement. Manual installing these:<\/p>\n helps.<\/p>\n 2017-05-22<\/strong> Found the other groups, “Planning Request” is a sub-menu of “MotionPlanning”. Now I can move: But these give errors: 2017-05-23<\/strong> but it is not the movement that is expected, its moving sideways in a weird way, adding “<legacyMode>false<\/legacyMode> https:\/\/groups.google.com\/forum\/#!topic\/ros-sig-aldebaran\/GN85jo_2Ano<\/a><\/p>\n 2017-06-7<\/strong> 2017-06-21<\/strong> http:\/\/wiki.ros.org\/pepper 2017-06-28<\/strong> 2017-07-06<\/strong> http:\/\/wiki.ros.org\/pepper\/Tutorials<\/a><\/p>\n after installing the 2.1.4 C++ and 2.1.4 Python NAOqi SDK from:<\/p>\n http:\/\/wiki.ros.org\/ROS\/Tutorials<\/code><\/p>\n http:\/\/wiki.ros.org\/pepper<\/code><\/p>\n sudo apt-get install ros-kinetic-naoqi-bridge-msgs ros-kinetic-naoqi-dcm-driver ros-kinetic-pepper-bringup ros-kinetic-pepper-control ros-kinetic-pepper-dcm-bringup ros-kinetic-pepper-description ros-kinetic-pepper-gazebo-plugin ros-kinetic-pepper-meshes ros-kinetic-pepper-moveit-config ros-kinetic-pepper-robot ros-kinetic-pepper-sensors-py ros-kinetic-pepperl-fuchs-r2000
\n<\/code><\/p>\n roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch<\/code><\/p>\n http:\/\/gazebosim.org\/tutorials?cat=connect_ros<\/code><\/p>\n cd ~\/catkin_ws\/src
\ngit clone https:\/\/github.com\/ros-naoqi\/pepper_virtual
\ngit clone https:\/\/github.com\/ros-naoqi\/pepper_robot
\ngit clone https:\/\/github.com\/ros-naoqi\/pepper_dcm_robot
\ncd ..
\ncatkin_make
\n<\/code><\/p>\n sudo apt-get install ros-kinetic-pepper-meshes<\/code><\/p>\n roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch<\/code><\/p>\n apt-get install ros-kinetic-controller-manager
\nroslaunch pepper_control pepper_control_position.launch
\n<\/code><\/p>\n [INFO] [1493659972.516635, 0.000000]: Controller Spawner: Waiting for service controller_manager\/load_controller
\n[WARN] [1493660002.655930, 89.766000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
\n<\/code><\/p>\n rosrun image_view image_view image:=\/pepper_robot\/camera\/front\/image_raw
\nrosrun image_view image_view image:=\/pepper_robot\/camera\/bottom\/image_raw
\n<\/code><\/p>\n rostopic hz \/pepper_robot\/camera\/depth\/points <\/code><\/p>\n rostopic echo \/pepper_robot\/sonar_back
\nrostopic echo \/pepper_robot\/sonar_front
\n<\/code><\/p>\nsudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control<\/code><\/p>\nsudo apt-get install ros-kinetic-gazebo-ros-control ros-kinetic-ros-controllers<\/code><\/p>\n roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch
\nroslaunch pepper_control pepper_control_position.launch
\n<\/code><\/p>\n
\n[ERROR] [1493839940.039714623, 89.547000000]: A controller named '\/pepper_dcm\/WheelB_controller' was already loaded inside the controller manager
\n[ERROR] [1493839941.043294848, 90.387000000]: A controller named '\/pepper_dcm\/WheelFL_controller' was already loaded inside the controller manager
\n[ERROR] [1493839942.046338063, 91.256000000]: A controller named '\/pepper_dcm\/WheelFR_controller' was already loaded inside the controller manager
\n[ERROR] [1493839943.049357655, 92.135000000]: A controller named '\/pepper_dcm\/joint_state_controller' was already loaded inside the controller manager
\n<\/code><\/p>\n export LC_NUMERIC=C<\/code><\/p>\n
\ncd ~\/catkin_ws\/src\/
\ngit clone https:\/\/github.com\/roboticsgroup\/roboticsgroup_gazebo_plugins
\ncd ..
\ncatkin_make<\/code><\/p>\nhttps:\/\/github.com\/ros-naoqi\/pepper_moveit_config<\/code><\/p>\n[ERROR] [1493935711.503737635, 104.749000000]: PluginlibFactory: The plugin for class 'moveit_rviz_plugin\/MotionPlanning' failed to load. Error: According to the loaded plugin descriptions the class moveit_rviz_plugin\/MotionPlanning with base class type rviz::Display does not exist. Declared types are rviz\/Axes rviz\/Camera rviz\/DepthCloud rviz\/Effort rviz\/FluidPressure rviz\/Grid rviz\/GridCells rviz\/Illuminance rviz\/Image rviz\/InteractiveMarkers rviz\/LaserScan rviz\/Map rviz\/Marker rviz\/MarkerArray rviz\/Odometry rviz\/Path rviz\/PointCloud rviz\/PointCloud2 rviz\/PointStamped rviz\/Polygon rviz\/Pose rviz\/PoseArray rviz\/Range rviz\/RelativeHumidity rviz\/RobotModel rviz\/TF rviz\/Temperature rviz\/WrenchStamped rviz_plugin_tutorials\/Imu<\/code><\/p>\n
\nAvailable capabilities: move_group\/ApplyPlanningSceneService, move_group\/ClearOctomapService, move_group\/MoveGroupCartesianPathService, move_group\/MoveGroupExecuteService, move_group\/MoveGroupExecuteTrajectoryAction, move_group\/MoveGroupGetPlanningSceneService, move_group\/MoveGroupKinematicsService, move_group\/MoveGroupMoveAction, move_group\/MoveGroupPlanService, move_group\/MoveGroupQueryPlannersService, move_group\/MoveGroupStateValidationService<\/p>\nmodprobe brcmfmac<\/code><\/p>\nhttps:\/\/github.com\/ros-naoqi\/pepper_virtual\/tree\/master\/pepper_gazebo_plugin<\/code><\/p>\nsudo aptitude install ros-indigo-moveit-ros-move-group
\nsudo aptitude install ros-indigo-moveit-controller-manager
\nros-indigo-moveit-simple-controller-manager
\nros-indigo-pepper-moveit-config
\nros-indigo-moveit-ros-visualization<\/code><\/p>\n
\nFor some reason now it does work (installed new GPU drivers but that should not have helped), I’m moving the left arm but there is no GUI options to select other groups as the moveit manual explains. Make sure to click the “PLAY” button in gazebo otherwise MoveIt doesn’t start.<\/p>\n
\nleft-arm
\nright-arm
\nleft-hand
\nright-hand<\/code><\/p>\n
\nbase
\nhead<\/code><\/p>\n
\nPepper moves with:<\/p>\nrostopic pub -1 \/cmd_vel geometry_msgs\/Twist -- '[0.1, 0.0, 0.0]' '[0.0, 0.0, 0.0]'<\/code><\/p>\n<\/code>” doesn’t help. Seems I’m not the only one:<\/p>\n
\nSeems like the pepper-gazebo model is not in any state that we could easily use it. Laser scanners are also missing. Now either we spend a lot of time making the simulator work, or we instead use prerecorded data (rosbag) to test things.<\/p>\n
\nThe plan now is to make a dataset with the real robot of all ros topics. This dataset can then be used to test ros gmapping slam package. Looking into working with the real robot:<\/p>\n
\nhttps:\/\/groups.google.com\/forum\/#!topic\/ros-sig-aldebaran\/FEtO4Gf9erc<\/p>\n
\nrecord: http:\/\/wiki.ros.org\/rosbag
\nmove: https:\/\/github.com\/ros-naoqi\/pepper_moveit_config
\ngmapping: http:\/\/wiki.ros.org\/slam_gmapping\/Tutorials\/MappingFromLoggedData<\/p>\n
\nConnecting over a wireed connecton (eth0) and following the tutorial:<\/p>\n