how to slam with pepper

pepper_slam.sh

bash /tmp/jsk.rosbuild --from-source indigo
cd ~/ros/indigo/src
wstool set ros_naoqi/naoqi_driver --git https://github.com/kochigami/naoqi_driver -v try-depth-raw
wstool set ros_naoqi/pepper_robot --git https://github.com/furushchev/pepper_robot -v perception
wstool set jsk-ros-pkg/jsk_robot --git https://github.com/furushchev/jsk_robot -v pepper-slam
wstool up ros_naoqi/naoqi_driver ros_naoqi/pepper_robot jsk-ros-pkg/jsk_robot
rosdep install --from-paths . --ignore-src -r -n -y
# fcnでエラーが出たとき
# sudo apt-get install libleveldb-dev -y
# rosdep install --from-paths . --ignore-src -r -n -y
catkin b jsk_pepper_startup
source ~/ros/indigo/devel/setup.bash
rosrun roseus generate-all-msg-srv.sh -a

# execute
roslaunch jsk_pepper_startup jsk_pepper_startup.launch launch_twitter:=false network_interface:=wlan0
roslaunch jsk_pepper_startup pepper_slam.launch