tuto_basic.rst

ROS tutorials for Nao, Pepper, Romeo robots

Here, we describe the main steps to setup your system and use ROS with Nao, Pepper, or Romeo. We provide examples of installing all packages with "apt-get" if possible, however each package can be also installed from source (check the corresponding Github links).

Pre-requirements

• install Ubuntu (14.04 is the supported one and earlier versions are possible), check http://howtoubuntu.org/how-to-install-ubuntu-14-04-trusty-tahr

• install ROS (Indigo for Ubuntu 14 or Kinetic for Ubuntu 16), check http://wiki.ros.org/Installation

  sudo apt-get install ros-<ROS_version>-desktop

• install MoveIt!, check http://moveit.ros.org/

  sudo apt-get install ros-<ROS_version>-moveit

• source your installation

  source /opt/ros/<ROS_version>/setup.bash

Installation

• if you use Nao robot, check http://wiki.ros.org/nao and install the following packages replacing <ROBOT> by nao

  • install basic packages

    sudo apt-get install ros-<ROS_version>-<ROBOT>-robot ros-<ROS_version>-<ROBOT>-meshes

  • install MoveIt!-specific packages, check https://github.com/ros-naoqi/nao_moveit_config

    sudo apt-get install ros-<ROS_version>-moveit-visual-tools ros-<ROS_version>-<ROBOT>-moveit-config

  • optionally, install Gazebo, check the official tutorial and then our tutorial

    sudo apt-get install ros-<ROS_version>-<ROBOT>-control ros-<ROS_version>-<ROBOT>-gazebo-plugin

• if you use any other robot, additionally install all packages for <pepper> or <romeo> instead as <ROBOT>

  • if you use Pepper, check http://wiki.ros.org/pepper

    sudo apt-get install ros-<ROS_version>-pepper-robot ros-<ROS_version>-pepper-meshes
    sudo apt-get install ros-<ROS_version>-pepper-moveit-config
    sudo apt-get install ros-<ROS_version>-pepper-control ros-<ROS_version>-pepper-gazebo-plugin

  • if you use Romeo, check http://wiki.ros.org/romeo

    sudo apt-get install ros-<ROS_version>-romeo-robot
    sudo apt-get install ros-<ROS_version>-romeo-moveit-config
    sudo apt-get install ros-<ROS_version>-romeo-control ros-<ROS_version>-romeo-gazebo-plugin

Testing

• source your ROS installation;

  • in case of installing everything with "apt-get", do

    source /opt/ros/<ROS_version>/setup.bash

  • in case of installing from source, source your catkin workspace, for example

    source ~/catkin_ws/devel/setup.bash

• launch MoveIt! and check if you see a robot, check the tutorial

  roslaunch nao_moveit_config demo.launch

• optionally, if you have installed Gazebo, check the tutorial

  roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch

Please, open PR if you find any typos :) or question, and I will try to help you.