A Docker container for developing applications for the Pepper robot using the NAOqi Python SDK and Choregraphe Suite. This containerized approach eliminates complex setup requirements and provides a consistent development environment.
Wits NAOqi Robot Specifications:
- NAOqi 2.5.10.7
- Python 2.7
- Choregraphe 2.5.10.7
- Python NOAqi SDK 2.8.6.23
- Ubuntu 16
Prerequisites:
Required from RAIL Lab:
- WiFi connection details
- Choregraphe license key
- Installation files
Turn Pepper on using the button directly under its screen.
You can connect directly to it using WiFi as it has been configured to connect to the RAIL Lab network. Make sure you are connected to the RAL Lab network. Its address should be 192.168.1.5 but if this does not work, you can click its on button once and it should tell you the address.
Network Details:
- IP Address:
192.168.1.5(press power button once if different) - Credentials: Available in Pepper Discord channel
Navigate to 192.168.1.5 in your browser and log in.
ssh nao@192.168.1.5Source code location: /opt/aldebaran/
Do not edit this.
Clone this repository and navigate to the directory.
Obtain these files from the RAIL Lab and place them in the root of the directory:
choregraphe-suite-2.5.10.7-linux64-setup.runpynaoqi-python2.7-2.8.6.23-linux64.tar.gz
# Build the container
docker build -t wits-naoqi .
# Run the container (use provided script)
./run_container.sh- For additional terminals:
docker exec -it wits_pepper bash - To run a container in the background, edit the command to use
-dinstead of-it.
Windows Users: Enable X Server before running:
# Before running
xhost +local:docker
# Once complete
xhost -local:dockerFrom within the interactive container, the installation can be completed with the following steps.
- You can run the installation wizard using:
or use the simplified command:
/choregraphe/choregraphe-suite-2.5.10.7-linux64-setup.run
/choregraphe/choregraphe-suite-2.5.10.7-linux64-setup.run --mode unattended --installdir /home/user/choregraphe/
- Enter the license key when prompted
- If the installation is successful, the Choregraphe GUI should open.
- Connect to Pepper using the connection icon and its IP address
To re-launch the program at any point:
# {Installation directory}/choregraphe
# E.g., from /home/user
./choregraphe/choregrapheIf you used the installation and Quick mode, the installation directory will likely be: /opt/Softbank Robotics/Choregraphe Suite 2.5.
Test the SDK installation:
from naoqi import ALProxy
tts = ALProxy("ALTextToSpeech", "192.168.1.5", 9559)
tts.say("Hello, world!")Running these lines should result in Pepper speaking out "Hello, world!"
Instruct Pepper to say words using the textbox on its web-based GUI (as per the direct connection instructions)
Pepper responds to these verbal commands:
- "close hand"
- "raise arm"
- "look left/right"
- "stop looking at me"
- "shake hand"
- Head stroke: Pepper purrs or speaks
- Cover front camera: Pepper goes to sleep
Use the qicli interface for direct API calls. Note that these are run from Pepper's direct connection SSH terminal, not via the Docker container. Some other commands that are pre-loaded include:
# You can type any words/sentences for Pepper to speak.
say "How are you?"- Connect to Pepper in the Choregraphe GUI
- Locate the 'Robot applications' section
- Trigger pre-loaded behaviors or import samples from
/home/user/naoqi/samples
The ./src directory is mounted in the container and updates in real-time, allowing you to:
- Develop code on your host machine
- Run and test code from within the Docker container
- Deploy to Pepper for testing
- NAOqi Getting Started Guide
- Python SDK Documentation
- Choregraphe Documentation
- qicli Command Reference
- ✅ Python SDK (included)
- ⏳ C++ SDK (planned)
- ⏳ Java SDK (planned)
- ⏳ JavaScript SDK (planned)
- ⏳ ROS (planned)