commands.txt

Commands
========

# Build the Pepper ROS docker image
cd ~/Code/Pepper/pepper-ros-docker
docker build . -t minimal-pepper-ros-driver
# CHECK: docker image ls
# UNDO:  docker image rm minimal-pepper-ros-driver

# Run the Pepper ROS docker image
docker run -it --network host minimal-pepper-ros-driver:latest
# MOUNT VOLUME: For example: docker run -it --network host -v ~/Code/Pepper/PepperDemo:/PepperDemo minimal-pepper-ros-driver:latest
# CHECK:     docker ps -a
# RESTART:   docker start NAME
# NEW BASH:  docker exec -it NAME bash -i
# COPY FILE: docker cp ~/Code/Pepper/pepper-ros-docker/pepper_extra/. NAME:/catkin_ws/src/pepper_extra/
# RECOMPILE: docker exec -it NAME /bin/bash -c 'source /opt/ros/kinetic/setup.bash && cd /catkin_ws && catkin_make'
# UNDO:      docker stop NAME
# UNDO:      docker rm NAME

# Launch complete Pepper ROS interface
# HOST PC: roscore
# DOCKER:  export ROS_MASTER_URI=http://wtmpc810:11311
# DOCKER:  roslaunch pepper_extra pepper_main.launch ip:=192.168.104.115
# HOST PC: rostopic list
# HOST PC: rqt  (open RViz configuration resources/pepper_config.rviz)

# Launch commands
# HOST PC: roscore
# DOCKER:  export ROS_MASTER_URI=http://wtmpc810:11311
# DOCKER:  rosrun pepper_extra pepper_api_interface.py --pip 134.100.10.173 __ns:=pepper
# DOCKER:  roslaunch pepper_extra pepper_wrapyfi.launch ip:=134.100.10.173

# Control the Pepper robot via ROS (needs node /pepper/pose/pose_manager)
rosservice call /pepper/pose/idle_mode "{idle_enabled: false, breath_enabled: false}"
rosservice call /pepper/pose/home
rosservice call /pepper/pose/rest
rosservice call /pepper/pose/wakeup
rosservice call /pepper/pose/life/enable   # Autonomous life where the robot also moves and looks around
rosservice call /pepper/pose/life/disable  # Also makes robot rest

# Control the Pepper robot manually via GUI
cd ~/Code/Pepper/WoZ4U
conda activate naoqi
python server.py  # <-- Ctrl+C to stop
xdg-open http://0.0.0.0:5000

# Compile Pepper workspace on host PC
cd ~/Code/Pepper/pepper_ros_ws && catkin build
source ~/Code/Pepper/pepper_ros_ws/devel/setup.bash