How to stop Pepper's go-pos method after it starts

[kochigami]

I am grateful if Pepper stops safely when he or she subscribes some rostopic related to obstacle detecting signal even though he or she is moving by using :go-pos method in pepper-interface.l

I think Pepper's :go-pos method is like PR2's :go-pos-unsafe method.

Could you give me some hints to tackle this problem? Finding go-pos-safe method from NAOqi and integrated it into pepper-interface.l is required?

[chiwunau]

In PR2, we have something like (send ri :go-stop) does that work on Pepper?

[kochigami]

Thank you very much for your advice. In PR2, you can do something like that?

''' (defun calback(msg) (send ri :go-stop)) (subscribe /some_sensor_topic msg_type callback) and in main code, it includes (send ri :go-pos some_distance) ''' The robot subscribes topic data by using (ros::ros-spin). Does PR2 stop when he or she moves if something like this code is used?

Sorry for not clear explanation… Anyway, thank you very much!!

[chiwunau]

(send ri :go-stop) also stops the motion of joint trajectory command. how about (send ri :go-pos 0 0 0)

[k-okada]

go-stop only stops base motion https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus/pr2-interface.l#L328

◉ Kei Okada

On Sat, Jul 4, 2015 at 2:56 PM, Chi Wun Au notifications@github.com wrote:

(send ri :go-stop) also stops the motion of joint trajectory command. how about (send ri :go-pos 0 0 0)

— Reply to this email directly or view it on GitHub https://github.com/jsk-ros-pkg/jsk_robot/issues/363#issuecomment-118466270 .

[kochigami]

Thank you very much for all of your advice.

I tried on something like

(defun bumper-cb (msg)                                                 
  (send *ri* :go-pos 0 0 0))
(ros::subscribe "/bumper"  naoqi_msgs::Bumper #'bumper-cb)

However, it seems to fail. I cannot understand whether the situation is (send *ri* :go-pos 0 0 0) is excuted but it takes some time to stop Pepper completely or (send *ri* :go-pos 0 0 0) is no effect. I think the former is answer. I will continue considering this tomorrow.

[k-okada]

1, please check which naoqi API is called in ros_driver, if you use https://github.com/ros-naoqi/naoqi_bridge/blob/master/naoqi_driver/src/naoqi_driver/naoqi_moveto.py#L55 it calls moveto described here http://doc.aldebaran.com/2-1/naoqi/motion/control-walk-api.html#ALMotionProxy::move__floatCR.floatCR.floatCR

2. please check what will happen if proxy.moveTo(1,0,0) time.sleep(1) proxy.moveTo(-1,0,0)

will the robot moves 1 meter ahead and then go back back 1 meter. or the robot move forward 1 sec and back to 1 meter it it moves as the former description, we should change naoqi_driver (and better to ask question that how to interrupt moveto motion)

3) create naoqi_movetoward, that takes cmd_vel and send moveToward, note that the robot should be stopped if there are no /cmd_vel input for 1 sec, https://github.com/tork-a/spur/blob/master/spur_controller/nodes/base_controller.py#L185 may help

◉ Kei Okada

On Mon, Jul 6, 2015 at 12:16 AM, Kanae Kochigami notifications@github.com wrote:

Thank you very much for all of your advice.

I tried on something like

(send _ri_ :go-pos 0 0 0))
(ros::subscribe "/bumper" naoqi_msgs::Bumper #'bumper-cb)

However, it seems to fail.
I cannot understand whether the situation is `(send *ri* :go-pos 0 0 0)` is excuted but it takes some time to stop Pepper completely or `(send *ri* :go-pos 0 0 0)` is no effect.
I think the former is answer.
I will continue considering this tomorrow.

—
Reply to this email directly or view it on GitHub
https://github.com/jsk-ros-pkg/jsk_robot/issues/363#issuecomment-118631719
.

[kochigami]

Thank you very much for your advice.

We found moveTo is a block function which is not interrupted. As to question2, Pepper moved as the former description.

By the way, I found :go-velocity method in pepper-interface.l. I expect this method will relate to moveToward or something, and when I go back to school, I want to examine it.

Now I am wondering how pepper-interface.l and NAOqi API are combined. (ex Which function in NAOqi API does correspond with which method in pepper-interface.l?)

[kochigami]

I tried a simple code written rospy in which Pepper continues to move by using moveTo or moveToward and is interrupted when bumper detects an obstacle. (I forgot euslisp at that time.) If the bumper sensor is activated, Pepper stops for 1sec and starts moving again.

As a result, I seem to have to write naoqi_movetoward code.

There are results of Pepper' s movement after I executed the simple code. １. condition of using moveTo Pepper stops only once and never starts moving again. (I think it is caused by the interruption of moveTo.)

２. condition of using moveToward
Pepper stops for 1 sec and starts moving.

Thank you very much for your advice.

[k-okada]

from https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pepper_robot/peppereus/pepper-interface.l#L102 go-pos uses cmd_pose and go-velocity uses cmd_vel

and it seems nao_wheel.py listens cmd_vel, and cmd_pose, even though nao_wheel.py is not launched pepper.launch, it seems we launch manually roslaunch nao_apps nao_wheel.launch

then looking in to nao_walker.py and it uses setWalkTargetVelocity which may not work on Pepper robot https://github.com/ros-naoqi/nao_robot/blob/aa4e1e9fa6277fac31c5ea9a568067f908d7fa9b/nao_apps/nodes/nao_walker.py#L138

◉ Kei Okada

On Tue, Jul 7, 2015 at 12:10 AM, Kanae Kochigami notifications@github.com wrote:

Closed #363 https://github.com/jsk-ros-pkg/jsk_robot/issues/363.

— Reply to this email directly or view it on GitHub https://github.com/jsk-ros-pkg/jsk_robot/issues/363#event-348726049.

[kochigami]

I found :go-velocity works well (even though nao_wheel.py needs some changes to check in every 1 sec ). :go-velocity calls moveToward and therefore Pepper can stop by using this.

pepper-interface.l         topic          nao_wheel.py
:go-pos ->               /cmd_pose ->  moveTo
:go-velocity ->          /cmd_vel    -> moveToward 

Thank you very much for your advice.