Only released in EOL distros:
pepper_robot: pepper_bringup | pepper_description | pepper_sensors_py
Package Summary
Released
Documented
The pepper_sensors package
- Maintainer status: maintained
- Maintainer: Karsten Knese <kknese AT aldebaran DOT com>
- Author:
- License: Apache 2.0
- Source: git https://github.com/ros-naoqi/pepper_robot.git (branch: master)
pepper_robot: pepper_bringup | pepper_description | pepper_sensors_py
Package Summary
Released
Documented
The pepper_sensors package
- Maintainer status: maintained
- Maintainer: Karsten Knese <kknese AT aldebaran DOT com>
- Author:
- License: Apache 2.0
- Source: git https://github.com/ros-naoqi/pepper_robot.git (branch: master)
pepper_robot: pepper_bringup | pepper_description | pepper_sensors_py
Package Summary
Released
Documented
The pepper_sensors package
- Maintainer status: maintained
- Maintainer: Karsten Knese <kknese AT aldebaran DOT com>
- Author:
- License: Apache 2.0
- Source: git https://github.com/ros-naoqi/pepper_robot.git (branch: master)
Contents
Pepper-specific sensors
This package contains nodes and launch file to retrieve data from the sensors specific to Pepper.
Nodes
Laser
Pepper has 6 laser sensors. Three of them watch the robot's surroundings and project their line horizontally. They are called:
- srd_front
- srd_left
- srd_right
Two of them project vertical lines in front of the robot and are called
- ground_left (on the left side of the robot, project towards the right)
- ground_right (on the right side of the robot, project towards the left)
The last one projects its line in front of the robot towards the ground and is called:
- shovel
Published Topics
~pepper/laser/shovel/scan (sensor_msgs/Laserscan)- Laserscan topic for shovel laser
- Laserscan topic for ground left laser
- Laserscan topic for ground right laser
- Laserscan topic for surrounding front laser
- Laserscan topic for surrounding left laser
- Laserscan topic for surrounding right laser
- Pointcloud2 topic for shovel laser
- Pointcloud2 topic for ground left laser
- Pointcloud2 topic for ground right laser
- Pointcloud2 topic for surrounding front laser
- Pointcloud2 topic for surrounding left laser
- Pointcloud2 topic for surrounding right laser
Parameters
pointcloud (boolean, default: True)- Determines if the node should publish laser in sensor_msgs/PointCloud2 messages
- Determines if the node should publish laser in sensor_msgs/Laserscan messages
Camera
Wraps the camera node from naoqi_sensors
Launch files
Sonar
Starts two sonar nodes (from naoqi_sensors) to get the data from the front and the back sonar
Laser
Starts the laser node
Camera
Starts the camera node
