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use pepper.rosinstall for development environment setup #1124

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use pepper.rosinstall for development environment setup #1124

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fa59949
use pepper.rosinstall for development environment setup
k-okada Sep 10, 2019
102f74f
Merge branch 'master' into rosinstall
k-okada Oct 15, 2019
3c6dfdf
modify .rosinstall file name
kochigami Oct 31, 2019
fa9b8fc
Merge pull request #3 from kochigami/rosinstall
k-okada Nov 5, 2019
70ad649
Merge branch 'master' into rosinstall
kochigami Nov 6, 2019
12a9d0a
Merge branch 'master' into rosinstall
kochigami Nov 21, 2019
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63 changes: 3 additions & 60 deletions jsk_naoqi_robot/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -104,23 +104,12 @@ sudo apt-get install ros-kinetic-pepper-meshes
sudo apt-get install ros-kinetic-nao-meshes
```

If you have ROS kinetic, please use [naoqi_dashboard (kochigami-develop)](https://github.com/kochigami/naoqi_dashboard/tree/kochigami-develop).
This includes [Important PR](https://github.com/ros-naoqi/naoqi_dashboard/pull/3) for ROS kinetic.

```
cd catkin_ws/src
wstool set naoqi_dashboard --git https://github.com/ros-naoqi/naoqi_dashboard
wstool update naoqi_dashboard
cd naoqi_dashboard
git remote add kochigami https://github.com/kochigami/naoqi_dashboard.git
git fetch kochigami
git checkout -b modify-for-kinetic kochigami/kochigami-develop
```
Note that `pepper.rosinstall` includes necessary patches for ROS kinetic, such as [naoqi_dashboard (kochigami-develop)](https://github.com/kochigami/naoqi_dashboard/tree/kochigami-develop).

Finally, please compile them.

```
catkin build --continue-on-failure
catkin build peppereus
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I think catkin build naoqi_driver is also required because this package is based on roscpp.

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I think peppereus depends on pepper_bringup and pepper_bringup depends on naoqi_driver. Please double check

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catkin b jsk_pepper_startup seems to be also required.
(catkin b jsk_pepper(nao)_startup and catkin b pepper(nao)eus)

Should I add pepper(nao)eus dependency to jsk_pepper(nao)_startup?

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In addition, I thought .rosinstall file name can be naoqi.rosinstall or something because this environment setup is also for NAO.

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@k-okada k-okada Nov 1, 2019 •
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Should I add pepper(nao)eus dependency to jsk_pepper(nao)_startup?

if pepepreus itself depends on jsk_pepper_startup we need this. I'am not sure, but in my understanding, suppose we program pepper with groups, like 少人数ゼミ．Someone need to run jsk_pepper_startup to bringup necessary ROS nodes for pepper, and others who just use peppereus does not need to use `jsk_pepper_startup, just to update the document

catkin b peppereus jsk_pepper_startup

would be ok

naoqi.rosinstall

that's good idea. can you create PR against k-okada:rosinstall?

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I sent a PR (k-okada#3). Could you please check this?

source devel/setup.bash
```

Expand All @@ -129,56 +118,10 @@ source devel/setup.bash

4. (optional) For NAO and Pepper developers

Please add following source codes which you need for debugging.

```
cd catkin_ws/src
wstool set nao_robot --git https://github.com/ros-naoqi/nao_robot
wstool set pepper_robot --git https://github.com/ros-naoqi/pepper_robot
wstool set naoqi_driver --git https://github.com/ros-naoqi/naoqi_driver
wstool set naoqi_bridge --git https://github.com/ros-naoqi/naoqi_bridge
wstool set naoqi_bridge_msgs --git https://github.com/ros-naoqi/naoqi_bridge_msgs
wstool set naoqi_dashboard --git https://github.com/ros-naoqi/naoqi_dashboard
```

## Interface when controlling NAO and Pepper via roseus

Common methods for NAO and Pepper are defined in `naoqieus/naoqi-interface.l`. NAO-specific methods are defined in `naoeus/nao-interface.l`. Pepper-specific methods are defined in `peppereus/pepper-interface.l`. For further details about each method, please refer to [**_naoqieus_**](naoqieus/README.md), [**_naoeus_**](naoeus/README.md), and [**_peppereus_**](peppereus/README.md) respectively.
For some methods, they require specific branch (kochigami-develop) because they are not merged into master. If you need this, please change your branch of `naoqi_driver`, `naoqi_bridge` and `naoqi_bridge_msgs` as follows:

```
cd catkin_ws/src
wstool set naoqi_driver --git https://github.com/ros-naoqi/naoqi_driver
wstool update naoqi_driver
cd naoqi_driver
git remote add kochigami https://github.com/kochigami/naoqi_driver.git
git fetch kochigami
git checkout -b kochigami-develop kochigami/kochigami-develop

cd .. # catkin_ws/src
wstool set naoqi_bridge --git https://github.com/ros-naoqi/naoqi_bridge
wstool update naoqi_bridge
cd naoqi_bridge
git remote add kochigami https://github.com/kochigami/naoqi_bridge.git
git fetch kochigami
git checkout -b kochigami-develop kochigami/kochigami-develop

cd .. # catkin_ws/src
wstool set naoqi_bridge_msgs --git https://github.com/ros-naoqi/naoqi_bridge_msgs
wstool update naoqi_bridge_msgs
cd naoqi_bridge_msgs
git remote add kochigami https://github.com/kochigami/naoqi_bridge_msgs.git
git fetch kochigami
git checkout -b kochigami-develop kochigami/kochigami-develop
```

In addition, if you have ROS kinetic, please fetch the source of `nao_interaction` (master branch) for the time being ([related issue](https://github.com/ros-naoqi/nao_interaction/issues/12)).

```
cd .. # catkin_ws/src
wstool set nao_interaction --git https://github.com/ros-naoqi/nao_interaction
wstool update nao_interaction
```
For some methods, they require specific branch (kochigami-develop) because they are not merged into master. [pepper.rosinstall](https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_naoqi_robot/pepper.rosinstall) file includes this branch for `naoqi_driver`, `naoqi_bridge` and `naoqi_bridge_msgs` repositories.

## NAO & Pepper

Expand Down
37 changes: 37 additions & 0 deletions jsk_naoqi_robot/pepper.rosinstall
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Expand Up @@ -2,4 +2,41 @@
local-name: jsk_robot
uri: https://github.com/jsk-ros-pkg/jsk_robot.git
version: master
# fix qt> 5 (https://github.com/ros-naoqi/naoqi_dashboard/pull/3)
- git:
local-name: naoqi_dashboard
uri: https://github.com/kochigami/naoqi_dashboard
version: kochigami-develop
# wait for 0.5.16 release
- git:
local-name: nao_robot
uri: https://github.com/ros-naoqi/nao_robot
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In fact, I also use kochigami-develop for nao_robot package.
I'll consider whether we really need kochigami-develop or not.

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the difference is ros-naoqi/nao_robot@master...kochigami:kochigami-develop

modify nao_speech (delete speech topic)
delete naoqi_bridge dependency and support name space

# wait for 0.1.11
- git:
local-name: pepper_robot
uri: https://github.com/ros-naoqi/pepper_robot
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In fact, I also use kochigami-develop for pepper_robot package.
I'll consider whether we really need kochigami-develop or not.

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The difference is ros-naoqi/pepper_robot@master...kochigami:kochigami-develop

 +   <arg name="boot_config_file_name" value="$(arg boot_config_file_name)" />

And this is default behavior of naoqi_driver.launch
https://github.com/kochigami/naoqi_driver/blob/kochigami-develop/launch/naoqi_driver.launch

# add service to get/set volumes (https://github.com/ros-naoqi/naoqi_driver/pull/110)
# add play audio file service (https://github.com/ros-naoqi/naoqi_driver/pull/109)
# add fading/resetting leds services (https://github.com/ros-naoqi/naoqi_driver/pull/100)
# [ALChestButton] add chest button topic (pressed or not) (https://github.com/ros-naoqi/naoqi_driver/pull/99)
# for more info https://github.com/kochigami/naoqi_driver/issues/2
- git:
local-name: naoqi_driver
uri: https://github.com/kochigami/naoqi_driver
version: kochigami-develop
# add many nodes..... wait for 0.5.6
- git:
local-name: naoqi_bridge
uri: https://github.com/kochigami/naoqi_bridge
version: kochigami-develop
# add fade leds srv (https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/41)
# [ALChestButton] add msg for ChestButtonPressed (https://github.com/ros-naoqi/naoqi_bridge_msgs/pull/40)
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@kochigami kochigami Sep 11, 2019 •
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below "[ALChestButton] ..." this should be added:
# add many msgs and srvs

- git:
local-name: naoqi_bridge_msgs
uri: https://github.com/kochigami/naoqi_bridge_msgs
version: kochigami-develop
# wait for 0.1.6 (https://github.com/ros-naoqi/nao_interaction/issues/12)
- git:
local-name: nao_interaction
uri: https://github.com/ros-naoqi/nao_interaction