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Pepper

pepper.png

Pepper is a commercially available humanoid robot built by Aldebaran and Softbank Robotics. Since the robot uses Aldebaran's NaoQI framework, we can use naoqi_driver ROS driver that is common for Nao, Pepper, and Romeo. It wraps the needed parts of NaoQI API and makes it available in ROS.

Community

There is an official SIG for NaoQI and Aldebaran's robots at https://groups.google.com/forum/?fromgroups#!forum/ros-sig-aldebaran. Please subscribe to it to get the latest news !

Tutorials

A list of tutorials inclusive install and bring-up instructions can be found under tutorials. Since Pepper and Nao both use the same NaoQI framework, see Nao's tutorials for further references.

For calibration of cameras, check the following tutorial pepper/Tutorials/Calibration.

Library Overview

Basic Configuration

Capability

ROS package/stack

Robot-specific Startup Files

pepper_bringup

Robot model (URDF)

pepper_description

Robot meshes

pepper_meshes

Sensor specific code

pepper_sensors_py

Meta-package

pepper_robot

Hardware Drivers and Simulation

Component

ROS package/stack

Naoqi driver C++

naoqi_driver

Naoqi driver Python

naoqi_driver_py

Robot control

pepper_dcm_bringup

High-Level Capabilities

Component

ROS package/stack

Planning / MoveIt!

pepper_moveit_config

Teleop

nao_teleop

Simulation

Component

ROS package/stack

Gazebo plugin

pepper_gazebo_plugin


2024-03-23 12:48