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