I have a much better solution by now, please see: this repository. Here, we have a much more powerful simulation, with more functioning sensors. Additionally, everything runs in a docker container which should be more stable an easier to setup, maintain and use.
You can of course still you this repository, but the new version is just better ;) If you really want to, find the old readme below...
Template repository to quickly get a simulated pepper environment up and running. This is not straight forward, because most pepper related ROS packages are only available for ROS kinetic, which is not supported on Ubuntu 18.04. Hence, we have to compile everything from source, which is essentially what the small shell script in /pepper_ws/src/ does.
IMPORTANT: Requires ROS melodic to be installed on your system. Follow installation instructions here
- Clone this repo:
git clone https://github.com/frietz58/pepper_sim.git - Change working dir:
cd pepper_sim/pepper_ws/src/ - Run installation script:
bash ./pepper_moveit_setup.sh - During the installation, you will be have to accept the licence of that ships the pepper meshes, and enter installation path. Accept the default path by hitting
Enter, otherwise RVIZ etc might not find the meshes and won't be able to display your model of the pepper robot.
The last step installs the fundamental packages (that are in theory only available for ROS kinetic), including the meshes for a model of the pepper robot, compiles everything and sources devel/setup.bash
If everything worked you can execute the below commands to either get started with RVIZ and ROS Moveit or Gazebo.
To start Gazebo with pepper on a robocup field, paste the following command into your terminal.
roslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launchYou should see something like this:
To launch RVIZ and MoveIt to generate complex trajectories run:
roslaunch pepper_moveit_config demo.launchYou should see something like this:
