QiBullet-ROS-Setup

This tutorial assumes that you have already gone through the steps of setting up a catkin workspace that is ready to use for ROS.

Original QiBullet Repository: https://github.com/softbankrobotics-research/qibullet

If you have not set up your environment yet, please follow this tutorial: https://github.com/rosielab/ROStoNAO-Bridge-Docker-Setup

Create QiBullet Project

Install Dependencies

The following modules are required: numpy, pybullet, pip

sudo apt update
sudo apt install pip
pip install numpy
pip install pybullet

Install qiBullet module

pip install --user qibullet

Create QiBullet Project

catkin_create_pkg qibullet std_msgs rospy 

Navigate to QiBullet Project Folder and Create qi.py

roscd qibullet

NOTE: (if roscd doesn't work, try running: )

. ~/catkin_ws/devel/setup.bash

Create a file called "qi.py" with the following code snippet (adapted from qibullet robot_ros_test.py)

#!/usr/bin/env python
# coding: utf-8

import sys
import rospy
import pybullet
import pybullet_data
from qibullet import NaoVirtual
from qibullet import RomeoVirtual
from qibullet import PepperVirtual
from qibullet import NaoRosWrapper
from qibullet import RomeoRosWrapper
from qibullet import PepperRosWrapper
from qibullet import SimulationManager

if __name__ == "__main__":
    simulation_manager = SimulationManager()

    if (sys.version_info > (3, 0)):
        rob = input("Which robot should be spawned? (pepper/nao/romeo): ")
    else:
        rob = raw_input("Which robot should be spawned? (pepper/nao/romeo): ")

    client = simulation_manager.launchSimulation(gui=True)

    if rob.lower() == "nao":
        wrap = NaoRosWrapper()
        camera_id = NaoVirtual.ID_CAMERA_TOP
        robot = simulation_manager.spawnNao(client, spawn_ground_plane=True)
    elif rob.lower() == "pepper":
        wrap = PepperRosWrapper()
        camera_id = PepperVirtual.ID_CAMERA_BOTTOM
        robot = simulation_manager.spawnPepper(client, spawn_ground_plane=True)
    elif rob.lower() == "romeo":
        wrap = RomeoRosWrapper()
        camera_id = RomeoVirtual.ID_CAMERA_DEPTH
        robot = simulation_manager.spawnRomeo(client, spawn_ground_plane=True)
    else:
        print("You have to specify a robot, pepper, nao or romeo.")
        simulation_manager.stopSimulation(client)
        sys.exit(1)

    pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
    urdf = pybullet.loadURDF(
        "samurai.urdf",
        globalScaling=1.0)

    wrap.launchWrapper(robot, "/naoqi_driver")

    handle = robot.subscribeCamera(camera_id)

    try:
        rospy.spin()

    except KeyboardInterrupt:
        pass
    except rospy.ROSInterruptException:
        pass
    finally:
        wrap.stopWrapper()
        simulation_manager.stopSimulation(client)

Make it executable

chmod +x qi.py

Modify your CMakeLists file to add the following:

catkin_install_python(PROGRAMS qi.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

3.5 Navigate to catkin_ws and make the project

catkin_make

3.6 Run your roscore and run the project

roscore

In a new terminal (if not already in the folder):

cd ~/catkin_ws

If needed, source the ROS workspace

. ~/catkin_ws/devel/setup.bash

Run the project you just created

rosrun qibullet qi.py

When prompted, run Pepper and press "Enter"

If running for the first time, accept the agreements to install the robot meshes onto your computer.

If installation was successful, Pepper will appear on another window.