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tutorials:intermediate:pepper_shopping [2020/08/19 10:59] – derrick | tutorials:intermediate:pepper_shopping [2022/02/08 14:11] (current) – [Creating an ASDF system for the cram_pepper_demo] sarthou | ||
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- | ====== Pepper | + | ====== Pepper |
===== Setting Up The Workspace ===== | ===== Setting Up The Workspace ===== | ||
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< | < | ||
- | $ sudo apt update && sudo apt upgrade | + | $ sudo apt-get update && sudo apt-get upgrade |
</ | </ | ||
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< | < | ||
- | $ cd ~/ | ||
$ sudo apt-get install ros-kinetic-joint-state-publisher-gui | $ sudo apt-get install ros-kinetic-joint-state-publisher-gui | ||
$ sudo apt-get install ros-kinetic-pepper-meshes | $ sudo apt-get install ros-kinetic-pepper-meshes | ||
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< | < | ||
$ sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers | $ sudo apt-get install ros-kinetic-ros-control ros-kinetic-ros-controllers | ||
- | $ sudo apt-get install ros-melodic-roslisp-common | + | $ sudo apt-get install ros-kinetic-roslisp-common |
</ | </ | ||
- | At this point, we need an older version of CRAM. We a specific branch of the CRAM architecture. Therefore, if you have some work done in the current version of CRAM, please | + | At this point, we need an older version of CRAM. We need a specific branch of the CRAM architecture. Therefore, if you have some work done in the current version of CRAM, please |
Run the following in your terminal. | Run the following in your terminal. | ||
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< | < | ||
$ cd ~/ | $ cd ~/ | ||
+ | $ git pull | ||
$ git checkout 3f5b268504cb5226709daa7a5d52364c2b05a93d | $ git checkout 3f5b268504cb5226709daa7a5d52364c2b05a93d | ||
$ git branch | $ git branch | ||
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==== Native Set Up ==== | ==== Native Set Up ==== | ||
- | If you did a native installation of ROS and CRAM, you would most likely install all the necessary components. However, you have to go through the setup process for the VM to be sure everything is setup. Otherwise, skip to the part where you change the branch, then you are set to go. | + | If you did a native installation of ROS and CRAM, you would most likely install all the necessary components. However, you have to go through the setup process for the VM to be sure everything is setup. Otherwise, skip to the part where you update the repository and change the branch, then you are set to go. |
Now let's begin. | Now let's begin. | ||
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) | ) | ||
- | < | + | </code> |
This function creates the bullet-world, | This function creates the bullet-world, | ||
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((cram-common-failures: | ((cram-common-failures: | ||
- | ; (print e) | ||
| | ||
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? | ? | ||
(cram-tf: | (cram-tf: | ||
+ | </ | ||
This function also contains another helper function. Let’s add it. | This function also contains another helper function. Let’s add it. | ||
+ | |||
+ | <code lisp> | ||
;;" | ;;" | ||
;; calculate the new robot-pose-stamped, | ;; calculate the new robot-pose-stamped, | ||
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Congratulations!!! You just created a shopping assistant using the Pepper robot. | Congratulations!!! You just created a shopping assistant using the Pepper robot. | ||
+ | |||
+ | You can access the entire project from [[https:// | ||