This PR adds the Pepper robot into the Pyrobot framework. The user can work with a real Pepper (instructions here) or with a simulated one (instructions here), using the qiBullet tool.
Several scripts and resources have been added:
Pepper configuration script: The Pyrobot configuration script for the Pepper robot, listing topics to be used
Docs and environment setup: README explaining how to work with a real or a simulated Pepper robot, and a script to launch a simulated Pepper (the README has been added to the pyrobot documentation)
Examples: Basic examples for Pepper in Pyrobot, accompanied by a README
Two (rather old) issues are linked to that pull request, #11 and #61
Possible improvements/questions
I noticed that circle CI is used, I didn't add the Pepper unit tests to the CI, because it would require the qiBullet simulator to be listed as a dependency
As mentioned above, the simulator isn't listed as a dependency, should it be ?
How Has This Been Tested
The PR has been tested with the provided examples and unit tests for Python 2 and 3, with Ubuntu 16.04 and 18.04 (ROS Kinetic and Melodic). No deletions or modifications have been made to the original repository files (apart from the sidebar.json file for the documentation).
Motivation and Context
This PR adds the Pepper robot into the Pyrobot framework. The user can work with a real Pepper (instructions here) or with a simulated one (instructions here), using the qiBullet tool.
Several scripts and resources have been added:
Issues
Two (rather old) issues are linked to that pull request, #11 and #61
Possible improvements/questions
How Has This Been Tested
The PR has been tested with the provided examples and unit tests for Python 2 and 3, with Ubuntu 16.04 and 18.04 (ROS Kinetic and Melodic). No deletions or modifications have been made to the original repository files (apart from the sidebar.json file for the documentation).
Types of changes
Checklist