pepperTeleoperation

System requirement
Ubuntu 14.04
ROS Indigo (##Install driver for ROS From ROS Wiki page(http://wiki.ros.org/openni_kinect))
Openni
Kinnect camera
Pepper robot

1. Kinect driver for Ubuntu 14.04 and ROS indigo

sudo apt-get install ros-kinetic-openni-camera ros-kinetic-openni-launch
sudo apt-get install git build-essential python libusb-1.0-0-dev freeglut3-dev openjdk-8-jdk
sudo apt-get install doxygen graphviz mono-complete

Install OpenNI

cd ~/ mkdir kinect
cd ~/kinect git clone https://github.com/OpenNI/OpenNI.git
cd OpenNI git checkout Unstable-1.5.4.0 cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker

cd /yourpath/kinect/OpenNI/Platform/Linux/Redist/OpenNI-Bin-Dev-Linux-x64-v1.5.4.0
sudo ./install.sh
cd ~/kinect git clone https://github.com/avin2/SensorKinect
cd SensorKinect cd Platform/Linux/CreateRedist
chmod +x RedistMaker
./RedistMaker

cd /yourpath/kinect/SensorKinect/Platform/Linux/Redist/Sensor-Bin-Linux-x64-v5.1.2.1
chmod +x install.sh
sudo ./install.sh

Install Ros indigo OpenNI

sudo apt-get install ros-indigo-openni*

Install NITE

cd ~/kinect git clone https://github.com/arnaud-ramey/NITE-Bin-Dev-Linux-v1.5.2.23
cd /yourpath/kinect/NITE-Bin-Dev-Linux-v1.5.2.23/x64
sudo ./install.sh

Install openni_tracker

cd ~/catkin_ws/src
git clone https://github.com/ros-drivers/openni_tracker.git

Remake Catkin Workspace

cd ~/catkin_ws
catkin_make
catkin_make install

launch openni and openni_tracker

roscore
roslaunch openni_launch openni.launch
rosrun image_view image_view image:=/camera/rgb/image_color
rosrun image_view disparity_view image:=/camera/depth_registered/disparity

cd ~/catkin_ws/devel
source setup.bash
rosrun openni_tracker openni_tracker

create package

roscreate-pkg kinect_pj rospy tf
cd ~/yourpath/catkin_ws/src/kinect_pj/src
chmod +x kinect_pj

launch kinect_pj

cd ~/catkin_ws/devel
source setup.bash
rosrun kinect_pj kinect_pj

2. Run the teleoperation command

There are two key executable files attached above.

• kinect_pj (copyAndPlay)V3
  
• kinect_pj(liveSimu)v3
  

kinect_pj (copyAndPlay)V3 is for recording and playback teleoperation, and kinect_pj(liveSimu)v3 is live teleoperation. Please download and rename these files into kinect_pj under the kinect_pj/src folder. Change the permission to executable by use chmod 777 filename

open multiple terminal to run the commands below:
roscore
roslaunch openni_launch openni.launch
rosrun openni_tracker openni_tracker
#check the ip and port in choreograph tool for the virtual machine
rosrun kinect_pj kinect_pj --ip --port

Reference:
ros-drivers/openni_tracker#9
https://github.com/cltl/pepper/wiki/Installation
https://github.com/ketchart/Pepper-Robot-controlled-by-Kinect-in-Ubuntu