Here, we describe the main steps to setup your system and use ROS Kinetic 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).
installed Ubuntu, check http://howtoubuntu.org/how-to-install-ubuntu-14-04-trusty-tahr
installed ROS (Indigo for Ubuntu 14 or Kinetic for Ubuntu 16), check http://wiki.ros.org/Installation
sudo apt-get install ros-kinetic-desktop source /opt/ros/kinetic/setup.bash
if you use Nao robot, check available packages and tutorials on http://wiki.ros.org/nao
install basic packages
sudo apt-get install ros-kinetic-nao-robot ros-kinetic-nao-meshes
install MoveIt!-specific packages, check https://github.com/ros-naoqi/nao_moveit_config
sudo apt-get install ros-kinetic-moveit ros-kinetic-moveit-visual-tools
compile the following packages from source
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src git clone https://github.com/ros-naoqi/nao_moveit_config git clone https://github.com/ros-naoqi/nao_virtual git clone https://github.com/ros-naoqi/nao_dcm_robot cd .. catkin_make
optionally, install Gazebo, check the official tutorial and then our tutorial
if you use any other robot, install all packages for -pepper- or -romeo- instead as -nao-
- for Pepper, check http://wiki.ros.org/pepper
- for Romeo, check http://wiki.ros.org/romeo
source your ROS installation;
source /opt/ros/kinetic/setup.bash source ~/catkin_ws/devel/setup.bash
if you have Nao, check Naoqi Driver providing the robot's IP
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ROBOT_IP>
test MoveIt! and check if you see a robot, check the tutorial
roslaunch nao_moveit_config demo.launch
optionally, if you have installed Gazebo, then test it and see 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.