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[jsk_naoqi_robot/README] Update for kinetic user #969

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merged 6 commits into from
Nov 16, 2018
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[jsk_naoqi_robot/README] Update for kinetic user #969

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cee6365
add info about SDK path, more pkgs for step4
kochigami Oct 1, 2018
dd3ba6d
add explanation of installing mesh package
kochigami Oct 22, 2018
5e8fedb
modify English
kochigami Oct 25, 2018
707fbf6
change ros distro to kinetic
kochigami Nov 2, 2018
5f65203
modify catkin build: add continue-on-failure option
kochigami Nov 2, 2018
1dbdcde
add naoqi_dashboard temporary explanation for kinetic
kochigami Nov 16, 2018
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59 changes: 49 additions & 10 deletions jsk_naoqi_robot/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ The package name comes from Naoqi OS they use.

Setup Environment
-----------------
% First, you need to install ros. For ros indigo, please refer to install guide like [here](http://wiki.ros.org/indigo/Installation/Ubuntu)
% First, you need to install ros. For ros kinetic, please refer to install guide like [here](http://wiki.ros.org/kinetic/Installation)

1. Install ``Python NAOqi SDK``
You can download it from [here](https://community.aldebaran.com/en/resources/software). (You may need an account.)
Expand All @@ -17,40 +17,79 @@ Then put the file under your ``pynaoqi`` folder.
2. Export environment variables in your ``.bashrc``

```
# Python NAOqi SDK version >= 2.5.5
export PYTHONPATH=$HOME/pynaoqi/pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages:$PYTHONPATH

# Python NAOqi SDK version < 2.5.5
export PYTHONPATH=$HOME/pynaoqi/<your Python SDK package name>:$PYTHONPATH

export NAO_IP="olive.jsk.imi.i.u-tokyo.ac.jp" % OR IP address like "133.11.216.xxx"
export ROS_IP="133.11.216.yyy" % OR run rossetip command to set ROS_IP
```
% `pose_controller.py` in `naoqi_pose` package imports `NaoqiNode` from `naoqi_node.py` in `naoqi_driver_py` package.

% `naoqi_node.py` imports `ALProxy` from `naoqi.py`.

% `naoqi.py` is located under `pynaoqi-python2.7-2.5.5.5-linux64/lib/python2.7/site-packages/`


% NAO_IP is IP address of Pepper. Pepper tells you their address when pushing their belly button.

3. Install ROS packages for Pepper
% Please install ```ros-kinetic-jsk-tools``` to use ```rossetip``` command.


3. Install ROS packages for NAO and Pepper

```
mkdir -p catkin_ws/src
cd catkin_ws
wstool init src
wstool merge -t src https://raw.githubusercontent.com/jsk-ros-pkg/jsk_robot/master/jsk_naoqi_robot/pepper.rosinstall
wstool update -t src
source /opt/ros/indigo/setup.bash
source /opt/ros/kinetic/setup.bash
rosdep install -y -r --from-paths src --ignore-src
catkin build
source devel/setup.bash
```
% In addition, please install ```ros-indigo-jsk-tools``` to use ```rossetip``` command.
Otherwise, please write the line below in your ```.bashrc```.

Then, please install Nao/ Pepper mesh files from deb with manual approval of license.

```
export ROS_IP="133.11.216.yyy"
sudo apt-get install ros-kinetic-pepper-meshes
sudo apt-get install ros-kinetic-nao-meshes
```

4. (optional) For Pepper developers
If you have ROS kinetic, please apply [this change](https://github.com/ros-naoqi/naoqi_dashboard/pull/3) for the time being.

```
cd catkin_ws/src
wstool set naoqi_dashboard --git https://github.com/ros-naoqi/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/modify-for-kinetic
```

Finally, please compile them.

```
catkin build --continue-on-failure
source devel/setup.bash
```

% Inside `jsk_robot` package, there are many packages which are not required for `jsk_naoqi_robot`. If we fail to compile them, building process might stop and `jsk_naoqi_robot` packages might not be compiled. We might need to continue compiling (`catkin build --continue-on-failure`) in that case.


4. (optional) For NAO and Pepper developers

Please add following source code for debugging.
Please add following source codes which you need for debugging.

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

NAO
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