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| { | |
| "_comment": "QQVGA = 0, QVGA = 1, VGA = 2", | |
| "converters": | |
| { | |
| "front_camera": | |
| { | |
| "enabled" : true, | |
| "resolution" : 1, | |
| "fps" : 10, | |
| "recorder_fps" : 5 | |
| }, | |
| "bottom_camera": | |
| { | |
| "enabled" : true, | |
| "resolution" : 1, | |
| "fps" : 10, | |
| "recorder_fps" : 5 | |
| }, | |
| "depth_camera": | |
| { | |
| "enabled" : true, | |
| "resolution" : 1, | |
| "fps" : 10, | |
| "recorder_fps" : 5 | |
| }, | |
| "ir_camera": | |
| { | |
| "enabled" : true, | |
| "resolution" : 1, | |
| "fps" : 10, | |
| "recorder_fps" : 5 | |
| }, | |
| "info": | |
| { | |
| "enabled" : true, | |
| "frequency" : 1 | |
| }, | |
| "logs": | |
| { | |
| "enabled" : false, | |
| "frequency" : 1 | |
| }, | |
| "diag": | |
| { | |
| "enabled" : true, | |
| "frequency" : 1 | |
| }, | |
| "imu_torso": | |
| { | |
| "enabled" : true, | |
| "frequency" : 10 | |
| }, | |
| "imu_base": | |
| { | |
| "enabled" : true, | |
| "frequency" : 10 | |
| }, | |
| "joint_states": | |
| { | |
| "enabled" : true, | |
| "frequency" : 50 | |
| }, | |
| "laser": | |
| { | |
| "enabled" : true, | |
| "frequency" : 10 | |
| }, | |
| "sonar": | |
| { | |
| "enabled" : true, | |
| "frequency" : 10 | |
| }, | |
| "audio": | |
| { | |
| "enabled" : true | |
| }, | |
| "bumper": | |
| { | |
| "enabled" : true | |
| }, | |
| "touch_hand": | |
| { | |
| "enabled" : true | |
| }, | |
| "touch_head": | |
| { | |
| "enabled" : true | |
| }, | |
| "odom": | |
| { | |
| "enabled" : true, | |
| "frequency" : 15 | |
| } | |
| }, | |
| "subscribers": | |
| { | |
| "speech": | |
| { | |
| "group_name" : "robot1" | |
| }, | |
| "moveto": | |
| { | |
| "group_name" : "robot1" | |
| }, | |
| "teleop": | |
| { | |
| "group_name" : "robot1" | |
| } | |
| } | |
| } |
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| { | |
| "_comment": "QQVGA = 0, QVGA = 1, VGA = 2", | |
| "converters": | |
| { | |
| "front_camera": | |
| { | |
| "enabled" : true, | |
| "resolution" : 1, | |
| "fps" : 10, | |
| "recorder_fps" : 5 | |
| }, | |
| "bottom_camera": | |
| { | |
| "enabled" : true, | |
| "resolution" : 1, | |
| "fps" : 10, | |
| "recorder_fps" : 5 | |
| }, | |
| "depth_camera": | |
| { | |
| "enabled" : true, | |
| "resolution" : 1, | |
| "fps" : 10, | |
| "recorder_fps" : 5 | |
| }, | |
| "ir_camera": | |
| { | |
| "enabled" : true, | |
| "resolution" : 1, | |
| "fps" : 10, | |
| "recorder_fps" : 5 | |
| }, | |
| "info": | |
| { | |
| "enabled" : true, | |
| "frequency" : 1 | |
| }, | |
| "logs": | |
| { | |
| "enabled" : false, | |
| "frequency" : 1 | |
| }, | |
| "diag": | |
| { | |
| "enabled" : true, | |
| "frequency" : 1 | |
| }, | |
| "imu_torso": | |
| { | |
| "enabled" : true, | |
| "frequency" : 10 | |
| }, | |
| "imu_base": | |
| { | |
| "enabled" : true, | |
| "frequency" : 10 | |
| }, | |
| "joint_states": | |
| { | |
| "enabled" : true, | |
| "frequency" : 50 | |
| }, | |
| "laser": | |
| { | |
| "enabled" : true, | |
| "frequency" : 10 | |
| }, | |
| "sonar": | |
| { | |
| "enabled" : true, | |
| "frequency" : 10 | |
| }, | |
| "audio": | |
| { | |
| "enabled" : true | |
| }, | |
| "bumper": | |
| { | |
| "enabled" : true | |
| }, | |
| "touch_hand": | |
| { | |
| "enabled" : true | |
| }, | |
| "touch_head": | |
| { | |
| "enabled" : true | |
| }, | |
| "odom": | |
| { | |
| "enabled" : true, | |
| "frequency" : 15 | |
| } | |
| }, | |
| "subscribers": | |
| { | |
| "speech": | |
| { | |
| "group_name" : "robot2" | |
| }, | |
| "moveto": | |
| { | |
| "group_name" : "robot2" | |
| }, | |
| "teleop": | |
| { | |
| "group_name" : "robot2" | |
| } | |
| } | |
| } |
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| #!/usr/bin/env roseus | |
| (ros::roseus "sample1") | |
| (require :pepper-interface "package://peppereus/pepper-interface.l") | |
| (pepper-init nil "robot1") | |
| (unix:sleep 10) | |
| (send *ri* :speak "Hello NAO!") |
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| <launch> | |
| <arg name="nao_ip" default="$(optenv NAO_IP1 127.0.0.1)" /> | |
| <arg name="nao_port" default="$(optenv NAO_PORT 9559)" /> | |
| <arg name="roscore_ip" default="127.0.0.1" /> | |
| <arg name="network_interface" default="eth0" /> | |
| <arg name="namespace" default="$(optenv ROS_NAMESPACE pepper_robot)" /> | |
| <arg name="boot_config_file_name" default="boot_config1.json" /> | |
| <group ns="robot1"> | |
| <!-- naoqi driver --> | |
| <include file="$(find naoqi_driver)/launch/naoqi_driver.launch"> | |
| <arg name="nao_ip" value="$(arg nao_ip)" /> | |
| <arg name="nao_port" value="$(arg nao_port)" /> | |
| <arg name="roscore_ip" value="$(arg roscore_ip)" /> | |
| <arg name="network_interface" value="$(arg network_interface)" /> | |
| <arg name="namespace" value="$(arg namespace)" /> | |
| <arg name="boot_config_file_name" value="$(arg boot_config_file_name)" /> | |
| </include> | |
| <!-- launch pose manager --> | |
| <include file="$(find naoqi_pose)/launch/pose_manager.launch" ns="$(arg namespace)/pose" > | |
| <arg name="nao_ip" value="$(arg nao_ip)" /> | |
| <arg name="nao_port" value="$(arg nao_port)" /> | |
| </include> | |
| </group> | |
| </launch> |
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| #!/usr/bin/env roseus | |
| (ros::roseus "sample2") | |
| (require :pepper-interface "package://peppereus/pepper-interface.l") | |
| (pepper-init nil "robot2") | |
| (unix:sleep 10) | |
| (send *ri* :speak "Hello Pepper!") |
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| <launch> | |
| <arg name="nao_ip" default="$(optenv NAO_IP2 127.0.0.1)" /> | |
| <arg name="nao_port" default="$(optenv NAO_PORT 9559)" /> | |
| <arg name="roscore_ip" default="127.0.0.1" /> | |
| <arg name="network_interface" default="eth0" /> | |
| <arg name="namespace" default="$(optenv ROS_NAMESPACE pepper_robot)" /> | |
| <arg name="boot_config_file_name" default="boot_config2.json" /> | |
| <group ns="robot2"> | |
| <!-- naoqi driver --> | |
| <include file="$(find naoqi_driver)/launch/naoqi_driver.launch"> | |
| <arg name="nao_ip" value="$(arg nao_ip)" /> | |
| <arg name="nao_port" value="$(arg nao_port)" /> | |
| <arg name="roscore_ip" value="$(arg roscore_ip)" /> | |
| <arg name="network_interface" value="$(arg network_interface)" /> | |
| <arg name="namespace" value="$(arg namespace)" /> | |
| <arg name="boot_config_file_name" value="$(arg boot_config_file_name)" /> | |
| </include> | |
| <!-- launch pose manager --> | |
| <include file="$(find naoqi_pose)/launch/pose_manager.launch" ns="$(arg namespace)/pose" > | |
| <arg name="nao_ip" value="$(arg nao_ip)" /> | |
| <arg name="nao_port" value="$(arg nao_port)" /> | |
| </include> | |
| </group> | |
| </launch> |
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