sudo apt install ros-kinetic-pepper-mesh*

open 192.168.100.3 
ID nao
PW kobaken

roslaunch pepper-bringup pepper_full_py.launch nao_ip=192.168.100.3
rosrun rviz rviz -d ~/catkin_ws/src/pepper-ros-navigation/config/pepper.rviz

roslaunch pepper_moveit_config demo.launch
rosservice call /pepper_robot/pose/life/disable "{}"
rosservice call /pepper_robot/pose/wakeup "{}"
rostopic pub -l /speech std_msgs/String "Hogehoge"


See Programming Robots with ROS, O'RELLY


roslaunch pepper-ros-navigation gmapping.launch
rosrun map_server map_saver -f /tmp/my_map

roslaunch pepper-ros-navigation navigation.launch map_file:=/tmp/my_map

rostopic echo /move_base_simple/goal


How to speech
>> python
>> from naoqi import ALProxy
>> tts=ALProxy("ALTextToSpeech","192.168.100.3",9559)
>> tts.say("hogehoge")


roslaunch pepper_bringup pepper.launch nao_ip:=192.168.0.4 network_interface:=wlan1
roslaunch pepper_bringup pepper_full_py.launch nao_ip:=192.168.0.4 network_interface:=wlan1

rostopic pub -1 /speech std_msgs/String "法政大学理工学部創生科学科へようこそ"
rostopic pub -1 /speech std_msgs/String "ほうせいだいがくりこうがくぶそうせいかがくかへようそこ"
rostopic pub /cmd_vel geometory_msgs/Twist '{linear:{x:0.0,y:0.0,z:0.0},angular:{x:0.0,y:0.0,z:0.2}}'
rostopic pub /cmd_vel geometory_msgs/Twist -- '[0,0,0]' '[0,0,0.2]'

roslaunch naoqi_sensors camera.launch nao_ip:=192.168.0.4
rosrun image_view image_view image:=/camera/front/image_raw

# バンパーセンサ
rostopic echo /pepper_robot/bumper

# 頭タッチセンサ
rostopic echo /pepper_robot/tactile_touch

# 脚部ソナーセンサ（前後）
rostopic echo /pepper_robot/sonar/front
rostopic echo /pepper_robot/sonar/back

# 加速度センサ（脚部、胸部）
rostopic echo /pepper_robot/imu/base
rostopic echo /pepper_robot/imu/torso

# 1Dデータをプロット
rqt_plot

# 画像表示
rqt_image_view

/* ----------------------
 3. アクションを取らせる
------------------------- */

/* ----------------------
 1. 画像の学習、認識
------------------------- */

# 画像学習、認識を行うノードを起動
rosrun find_object_2d find_object_2d image:=/pepper_robot/camera/front/image_raw

# 認識結果を表示
rostopic echo /objects


/* ----------------------
 2. Pythonコード作成
------------------------- */

# パッケージ作成
cd ~/catkin_ws/src
catkin_create_pkg create_speech rospy std_msgs

# Python雛形コードのダウンロードとパッケージのビルド
cd create_speech
mkdir scripts && cd scripts
curl -o create_speech.py https://raw.githubusercontent.com/ykoga-kyutech/pepper_ros_handson/master/scripts/create_speech_template.py
chmod +x create_speech.py
cd ~/catkin_ws && catkin_make
source ~/catkin_ws/devel/setup.bash

# create_speechノードの実行
rosrun create_speech create_speech.py

# Pythonコードの編集
emacs ~/catkin_ws/src/create_speech/scripts/create_speech.py