{"id":24221656,"url":"https://github.com/michdo93/pepper-ros-kinetic","last_synced_at":"2026-02-04T12:02:28.553Z","repository":{"id":135032158,"uuid":"493173219","full_name":"Michdo93/pepper-ros-kinetic","owner":"Michdo93","description":"Setup guide for ROS Kinetic Kame and the pepper robot.","archived":false,"fork":false,"pushed_at":"2022-05-17T12:56:51.000Z","size":5,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-07-07T18:59:44.220Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":null,"has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Michdo93.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2022-05-17T09:01:15.000Z","updated_at":"2022-05-17T09:01:15.000Z","dependencies_parsed_at":"2023-03-26T14:49:51.855Z","dependency_job_id":null,"html_url":"https://github.com/Michdo93/pepper-ros-kinetic","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/Michdo93/pepper-ros-kinetic","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Michdo93%2Fpepper-ros-kinetic","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Michdo93%2Fpepper-ros-kinetic/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Michdo93%2Fpepper-ros-kinetic/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Michdo93%2Fpepper-ros-kinetic/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Michdo93","download_url":"https://codeload.github.com/Michdo93/pepper-ros-kinetic/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Michdo93%2Fpepper-ros-kinetic/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":29084088,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-02-04T03:31:03.593Z","status":"ssl_error","status_checked_at":"2026-02-04T03:29:50.742Z","response_time":62,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-01-14T06:20:23.410Z","updated_at":"2026-02-04T12:02:28.547Z","avatar_url":"https://github.com/Michdo93.png","language":null,"funding_links":[],"categories":[],"sub_categories":[],"readme":"# pepper-ros-kinetic\nSetup guide for ROS Kinetic Kame and the pepper robot.\n\n## Install ROS Kinetic\n\n### On Ubuntu 16.04\n\n```\nsudo sh -c 'echo \"deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main\" \u003e /etc/apt/sources.list.d/ros-latest.list'\nsudo apt install curl # if you haven't already installed curl\ncurl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -\n\nsudo apt-get update\nsudo apt-get install ros-kinetic-desktop-full\n\necho \"source /opt/ros/kinetic/setup.bash\" \u003e\u003e ~/.bashrc\nsource ~/.bashrc\n\nsudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential\nsudo apt install python-rosdep\n\nsudo rosdep init\nrosdep update --include-eol-distros\n```\n\n### From Source\n\n`sudo nano /etc/apt/sources.list.d/ros-latest.list`:\n\n```\ndeb http://packages.ros.org/ros/ubuntu xenial main\n```\n\n`sudo nano /etc/apt/sources.list.d/ros-latest.list.distUpgrade`:\n\n```\ndeb http://packages.ros.org/ros/ubuntu xenial main\n```\n\n\n`sudo nano /etc/apt/sources.list.d/ros-latest.list.save`:\n\n```\n# deb http://packages.ros.org/ros/ubuntu xenial main # disabled on upgrade to focal\n```\n\n`sudo nano /etc/apt/sources.list.d/gazebo-stable.list`:\n\n```\n# deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main # disabled on upgrade to focal\n```\n\n\n`sudo nano /etc/apt/sources.list.d/gazebo-stable.list.distUpgrade`:\n\n```\ndeb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main\n```\n\n\n`sudo nano /etc/apt/sources.list.d/gazebo-stable.list.save`:\n\n```\n# deb http://packages.osrfoundation.org/gazebo/ubuntu-stable xenial main # disabled on upgrade to focal\n```\n\nThen run sudo `apt-get update`:\n\n```\nsudo apt-get update\n```\n\nYou have to install `Python 2.7`:\n\n```\nsudo apt-add-repository universe\nsudo apt update\nsudo apt install python2.7 python2.7-dev python-minimal\nsudo update-alternatives --install /usr/bin/python python /usr/bin/python2 1\nsudo update-alternatives --install /usr/bin/python python /usr/bin/python3 2\n\ncurl https://raw.githubusercontent.com/Michdo93/get-pip/main/get-pip.py -o get-pip.py\nsudo chmod +x get-pip.py\npython get-pip.py\n```\n\nAnd you have to change `libboost`:\n\n```\nsudo apt remove libboost1.*\n\nsudo apt-get install -y libboost1.58-all-dev\n\nsudo -H pip install empy\nsudo -H pip install defusedxml\nsudo -H pip install paramiko\n```\n\n```\nsudo apt-get install python-rosdep python-rosinstall-generator python-wstool python-rosinstall build-essential\nsudo rosdep init --rosdistro kinetic\nrosdep update --include-eol-distros\n\nmkdir ~/ros_catkin_ws\ncd ~/ros_catkin_ws\nrosinstall_generator desktop_full --rosdistro kinetic --deps --wet-only --tar \u003e kinetic-desktop-full-wet.rosinstall\nwstool init -j8 src kinetic-desktop-full-wet.rosinstall\nrosdep install --from-paths src --ignore-src --rosdistro kinetic -y\n./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release\n```\n\n## Configure your ROS environment\n\n```\nsource ~/.bashrc\n\nsudo nano /etc/environment\nROS_HOSTNAME=\"$(hostname -f)\"\nROS_MASTER_URI=http://$ROS_HOSTNAME:11311\nROS_IP=\"$(hostname -I | awk '{print $1;}')\"\n```\n\n## Install the NAOqi Python SDK\n\n```\nmkdir ~/naoqi\ncd ~/naoqi\nwget https://community-static.aldebaran.com/resources/2.5.5/sdk-python/pynaoqi-python2.7-2.5.5.5-linux64.tar.gz\nwget https://community-static.aldebaran.com/resources/2.5.5/naoqi-sdk/naoqi-sdk-2.5.5.5-linux64.tar.gz\ntar xzf pynaoqi-python2.7-2.5.5.5-linux64.tar.gz\ntar xzf naoqi-sdk-2.5.5.5-linux64.tar.gz\n```\n\nYou can check it with `~/naoqi/naoqi-sdk-2.5.5.5-linux64/naoqi`.\n\nThen you have to add it to your `PYTHONPATH`:\n\n```\necho 'export PYTHONPATH=~/naoqi/pynaoqi-python2.5.5.5.5-linux64/lib/python2.7/site-packages:$PYTHONPATH' \u003e\u003e ~/.bashrc\nsource ~/.bashrc\n```\n\nCheck with:\n\n```\npython # should open the Python 2.7 shell\n\u003e\u003e\u003e from naoqi import ALProxy\n```\n\n## Install Pepper Packages\n\n```\nsudo apt-get install ros-kinetic-driver-base ros-kinetic-move-base-msgs ros-kinetic-octomap ros-kinetic-octomap-msgs ros-kinetic-humanoid-msgs ros-kinetic-humanoid-nav-msgs ros-kinetic-camera-info-manager ros-kinetic-camera-info-manager-py\nsudo apt-get install ros-kinetic-pepper-.*\nsudo apt-get install ros-kinetic-pepper-robot ros-kinetic-pepper-meshes\n\nmkdir -p ~/catkin_ws/src\ncd ~/catkin_ws/src\ngit clone https://github.com/ros-naoqi/naoqi_driver.git\n\nrosdep install -i -y --from-paths ./naoqi_driver\n\ngit clone https://github.com/ros-naoqi/pepper_robot.git\ngit clone https://github.com/ros-naoqi/pepper_virtual.git\ngit clone https://github.com/ros-naoqi/naoqi_dcm_driver.git\ngit clone https://github.com/ros-naoqi/pepper_dcm_robot.git\ngit clone https://github.com/ros-naoqi/pepper_moveit_config.git\n\ngit clone https://github.com/ros-naoqi/naoqi_bridge.git\n\ncd ~/catkin_ws \u0026\u0026 catkin_make\n\ncp ~/catkin_ws/src/pepper_robot/pepper_bringup/config/pepper.rviz ~/catkin_ws/src/pepper_robot/pepper_description/config/\n```\n\nFor testing it you can run at first the roscore\n\n```\nroscore\n```\n\nthen\n\n```\nroslaunch pepper_bringup pepper_full.launch nao_ip:=\u003cyourRobotIP\u003e roscore_ip:=\u003croscore_ip\u003e [network_interface:=\u003ceth0|wlan0|vpn0\u003e]\n```\n\nIf you run ROS inside a virtual machine instead of `èth0` it could be something like `enps03` or `ens33` etc.\n\n## Gazebo\n\nPlease have a look at [here](https://github.com/ros-naoqi/pepper_robot/issues/47) and [here](https://answers.ros.org/question/292444/gazebo_ros_control-plugin-gazeboroscontrolplugin-missing-legacymodens-defaultrobothwsim/).\n\n```\nroslaunch pepper_gazebo_plugin pepper_gazebo_plugin_Y20.launch\nroslaunch pepper_dcm_bringup pepper_bringup.launch robot_ip:=127.0.0.1 network_interface:=eno2\nroslaunch pepper_bringup pepper_full.launch nao_ip:=127.0.0.1 roscore_ip:=192.168.0.1 network_interface:=eno2\n\n\nrosrun rviz rviz -d ~/catkin_ws/src/pepper_robot/pepper_description/config/pepper.rviz\nrosrun rviz rviz -d ~/catkin_ws/src/pepper_description/config/pepper.rviz\n\nrosrun image_view image_view image:=/pepper_robot/camera/bottom/image_raw\n```\n\n## Other\n\n```\ngit clone https://github.com/ros-naoqi/nao_extras.git\ngit clone https://github.com/ahornung/nao_common.git\n\ngit clone https://github.com/Michdo93/pepper_nav_bringup\n\ncd .. \u0026\u0026 catkin_make\n\nroslaunch nao_teleop teleop_joy.launch\n\nroslaunch pepper_plymouth_nao mapping.launch\n\nrosrun map_server map_server \u003cpath to map\u003e/map.yaml\nrosrun amcl amcl scan:=/pepper_robot/laser\nrosrun map_server map_saver\n\nroslaunch pepper_nav_bringup nav.launch\nroslaunch pepper_nav_bringup nav.launch map:=\u003cfull path to your map.yaml\u003e\n```\n\nPlease notice:\nhttps://github.com/ros-naoqi/pepper_robot/pull/27\n\n```\nsudo apt install ros-kinetic-octo*\nroslaunch pepper_nav_bringup octomap_mapping.launch\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmichdo93%2Fpepper-ros-kinetic","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmichdo93%2Fpepper-ros-kinetic","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmichdo93%2Fpepper-ros-kinetic/lists"}