PepperTeleoperation

System requirement

Ubuntu 14.04

ROS Indigo (##Install driver for ROS From ROS Wiki page (http://wiki.ros.org/openni_kinect))

Openni

Python and NAOqi (http://doc.aldebaran.com/2-5/dev/python/install_guide.html)

Kinnect camera

Pepper robot

1. Kinect driver for Ubuntu 14.04 and ROS indigo

sudo apt-get install ros-kinetic-openni-camera ros-kinetic-openni-launch

sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-8-jdk

sudo apt-get install doxygen graphviz mono-complete

Install OpenNI

cd ~/ mkdir kinect

cd ~/kinect

git clone https://github.com/OpenNI/OpenNI.git

cd OpenNI

git checkout Unstable-1.5.4.0

cd Platform/Linux/CreateRedist

sudo ./RedistMaker

cd ..

cd /Redist/OpenNI-Bin-Dev-Linux-x64-v1.5.4.0

sudo ./install.sh

cd ~/kinect

git clone https://github.com/avin2/SensorKinect

cd SensorKinect

cd Platform/Linux/CreateRedist

chmod +x RedistMaker

./RedistMaker

cd ..

cd /Redist/Sensor-Bin-Linux-x64-v5.1.2.1

sudo ./install.sh

Install Ros indigo OpenNI

sudo apt-get install ros-indigo-openni*

Install NITE

cd ~/kinect

git clone https://github.com/arnaud-ramey/NITE-Bin-Dev-Linux-v1.5.2.23

cd /NITE-Bin-Dev-Linux-v1.5.2.23/x64

sudo ./install.sh

Install catkin and create a workspace for it

sudo apt-get install ros-indigo-catkin

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws

source /opt/ros/indigo/setup.bash

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

source ~/.bashrc

Install openni_tracker

cd ~/catkin_ws/src

git clone https://github.com/ros-drivers/openni_tracker.git

Remake Catkin Workspace

cd ~/catkin_ws/bin

catkin_make

catkin_make install

launch openni and openni_tracker in different terminals

roscore

roslaunch openni_launch openni.launch

rosrun image_view image_view image:=/camera/rgb/image_color

rosrun image_view disparity_view image:=/camera/depth_registered/disparity

cd ~/catkin_ws/devel

source setup.bash

rosrun openni_tracker openni_tracker

create package

roscreate-pkg kinect_pj rospy tf

cd ~/yourpath/catkin_ws/src/kinect_pj/src

chmod +x kinect_pj

launch kinect_pj

cd ~/catkin_ws/devel

source setup.bash

rosrun kinect_pj kinect_pj

2. Run the teleoperation command

kinect_pj(copyAndPlay)V3 for record-replay, kinect_pj(liveSimu)v3 for live simulation (gesture-only) Rename the chosen file to kinect_pj and move to the kinect_pj/src folder. Change the file permission to executable (chmod 777 filename)

open multiple terminal to run the commands below:

roscore

roslaunch openni_launch openni.launch

rosrun openni_tracker openni_tracker

#manually change the option in 'Fixed Frame' under 'Global Options' to visualize Openni Tracker

rosrun rviz rviz

#check the ip and port in choreograph tool for the virtual machine, rename kinect_pj(copyAndPlay)V3 or kinect_pj(liveSimu)v3 into kinect_pj to determine which one to run

rosrun kinect_pj kinect_pj --ip <ip> --port <port>

Reference:

ros-drivers/openni_tracker#9

https://github.com/cltl/pepper/wiki/Installation

https://github.com/ketchart/Pepper-Robot-controlled-by-Kinect-in-Ubuntu