[jsk_naoqi_robot/cross/README] Update pepper cross readme

jsk_naoqi_robot/cross/README.md

@@ -4,10 +4,24 @@ This project contains a set of patches and scripts to compile and run ROS1 on a
 
 ## Setup Pepper Robot
 
+### Prerequisites
+
+- Pepper robot running NAOqi OS 2.5.X
+
+Note that this project does not cover NAOqi OS 2.9.
+
+As for robot version, please refer to http://doc.aldebaran.com/2-8/family/pepper_technical/pepper_versions.html
+
+- Linux PC which meets the prerequisites at https://docs.docker.com/engine/install/ubuntu/#prerequisites to prepare cros-compiling environment and copy system to Pepper.
+
+- (Recommendation) Linux PC (OS 18.04 + ROS melodic or OS 16.04 + ROS kinetic) which has environment for NAOqi robot for developping programs for Pepper. For further information, please refer to https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_naoqi_robot#setup-environment.
+
 ### Prepare cross-compiling environment (Run only the fist time per host computer)
 
 We're going to use Docker to set up a container that will compile all the tools for cross-compiling ROS and all of its dependencies. Go to https://docs.docker.com/install/linux/docker-ce/ubuntu/#install-using-the-repository to install it for your Linux distribution.
 
+Also, when you verify that the Docker Engine installation is successful by running the hello-world image, it is recommended to add `-rm` option like `sudo docker run --rm hello-world`.
+
 1. Add your user to docker group
 ```
 $ sudo usermod -aG docker $USER
@@ -32,7 +46,13 @@ export ALDE_CTC_CROSS=$HOME/ctc-linux64-atom-2.5.10.7
 4. Install command used in scripts
 
 ```
-apt install python-vcstool sshpass
+sudo apt install python-vcstool sshpass
+```
+
+If you use Ubuntu 20.04, please execute the command below:
+
+```
+sudo apt install python3-vcstool sshpass
 ```
 
 ### Build ROS System on Docker  (Run only the fist time per host computer)
@@ -43,7 +63,16 @@ make system
 
 Caution!!! It will take more than a few hours !!
 
-Run following command to copy ROS1 base sytem to Pepper onboard computer. This should be done only in the first time. So normally user do not have to run this command. You need to specify password by -p option.
+For JSK users, you can find latest backup of `i386_System.tgz` at [Google Drive](https://drive.google.com/drive/u/1/folders/10rINVGt1iDM2WNofmf0sZBX_iTnpXya6).
+
+You can unzip this by:
+```
+gzip -d i386_System.tgz
+tar -xvf i386_System.tar
+```
+For further information, please see https://github.com/jsk-ros-pkg/jsk_robot/pull/1583#issuecomment-1235043472
+
+Run following command to copy ROS1 base system to Pepper onboard computer. This should be done only in the first time. So normally user do not have to run this command. You need to specify password by -p option.
 ```
 ./install.sh -p <robot password> -d System
 ```
@@ -63,14 +92,29 @@ To copy your software to Pepper onboard computer, run following command
 
 ## Start `jsk_pepper_startup.launch`
 
-ssh to NAO_IP machine and run
+ssh to NAO_IP machine and run this command directly under the home directory.
 ```
-source User/user_setup.bash
-roslaunch --screen jsk_pepper_startup jsk_pepper_startup.launch network_interface:=eth0 launch_dashboard:=false launch_joy:=false
+./User/start.sh
 ```
 
+`C-t d` enables you to detach a session from a terminal.
+
+If you want to attach the session again, please execute `./User/attach.sh`.
+
+If there are several sessions like this (You can see same outputs with `screen -c User/screenrc -ls`.):
+```
+There are several suitable screens on:
+	31164.session	(04/04/14 12:28:31)	(Detached)
+	29334.session	(04/04/14 12:26:33)	(Detached)
+Use -S to specify a session.
+```
+
+Please specify a session like `screen -c User/screenrc -r 31164` and it is recommended to close all sessions one by one.
+
 You can connect to `app_chooser` by http://<$NAO_IP>:8000/rwt_app_chooser/#!robot
 
+Also, you can access to running ROS process on Pepper from your remote PC by typing `rossetmaster <$NAO_IP>`
+
 ## Known Issues
 
 ### `./install.sh -d System` errors at the first time.
@@ -88,15 +132,18 @@ You can connect to `app_chooser` by http://<$NAO_IP>:8000/rwt_app_chooser/#!robo
 
 ### To comple `pepper.l` within the robot
 
+Note: This issue was solved by https://github.com/kochigami/jsk_robot/commit/1a0cfe08e51421a2378bc2938ea3014b62e788fb and https://github.com/jsk-ros-pkg/jsk_robot/pull/1847
+
+Please refer to this comment: https://github.com/jsk-ros-pkg/jsk_robot/pull/1583#issuecomment-1235043472
 ```
-cp -r /opt/ros/melodic/share/pepper_meshes/meshes/  ./i386_User/src/pepper_meshes/
+cp -r /opt/ros/$ROS_DISTRO/share/pepper_meshes/meshes/  ./i386_User/src/pepper_meshes/
 rm -fr i386_User/build/pepper_meshes/ i386_User/build/peppereus
 ./build_user.sh build pepper_meshes peppereus
 ```
 
 ### Development
 
-On development phase, users are expected to develop sofoware on a remote machine. All codes are expected to add in `jsk_pepper_startup` package.
+On development phase, users are expected to develop software on a remote machine. All codes are expected to add in `jsk_pepper_startup` package.
 
 
 You can send all development files to robot and start them on boot time. Note that this process requres `NAO_IP` environment variable.
@@ -106,15 +153,21 @@ make user
 make install
 ```
 
-If you want to use ethernet, you need to change from `wlan0` to `eth0` in `jsk_naoqi_robot/cross/startup_scripts/user_setup.bash` and run `make install`
+If you want to use ethernet, you need to change from `wlan0` to `eth0` in `jsk_naoqi_robot/cross/startup_scripts/user_setup.bash` and `jsk_naoqi_robot/cross/startup_scripts/start.sh`, and run `make install`
 ```
 export ROS_IP=$(ip addr show eth0 | grep -Po '(?<= inet )([0-9]{1,3}.){3}[0-9]{1,3}')
 ```
 
+To startup Pepper, please refer to `Start jsk_pepper_startup.launch`
+
 If you add more dependencies to `package.xml`, you need to remove `i386_Users` and run `make user` again.
 
+You can restore from saved docker container. For JSK users, you can find latest data at [Google Drive](https://drive.google.com/drive/u/1/folders/10rINVGt1iDM2WNofmf0sZBX_iTnpXya6).
+
+It will be useful when you can't create `ros1-pepper.tar` image. For example, when `./prepare_requirements_ros1.sh` fails unfortunately.
 
-You can restore from saved docker container. For JSK users, you can find latest data at [Google Drive](https://drive.google.com/drive/u/1/folders/10rINVGt1iDM2WNofmf0sZBX_iTnpXya6). You can also find backup of `i386_System`.
 ```
 docker load < ros1-pepper.tar
-```
+```
+
+For more information, please refer to [here](https://github.com/jsk-ros-pkg/jsk_robot/issues/1846).