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tutorials:intermediate:pepper_shopping [2020/08/19 15:58] – derricktutorials:intermediate:pepper_shopping [2022/02/08 14:11] (current) – [Creating an ASDF system for the cram_pepper_demo] sarthou
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-====== Pepper robot shopping assistant (tutorial in construction) ======+====== Pepper Robot Shopping Assistant ======
  
 ===== Setting Up The Workspace ===== ===== Setting Up The Workspace =====
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   )   )
-<code>+</code>
  
 This function creates the bullet-world, extracts the necessary information about the robot and the shelves from the ros-parameter server, spawns a static floor (plane), generates the shelves, and spawns the robot. This function creates the bullet-world, extracts the necessary information about the robot and the shelves from the ros-parameter server, spawns a static floor (plane), generates the shelves, and spawns the robot.
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  ((cram-common-failures:ptu-goal-not-reached (e)  ((cram-common-failures:ptu-goal-not-reached (e)
-        ; (print e) 
  
         (roslisp:ros-warn (perception-failure) "~a~%Looking at product went wrong...repositioning" e)         (roslisp:ros-warn (perception-failure) "~a~%Looking at product went wrong...repositioning" e)
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  ?location-pose  ?location-pose
  (cram-tf:robot-current-pose)))  (cram-tf:robot-current-pose)))
 +</code>
  
 This function also contains another helper function. Let’s add it. This function also contains another helper function. Let’s add it.
 +
 +<code lisp>
 ;;"Given a `look-pose-stamped' and a `robot-pose-stamped' (both in fixed frame), ;;"Given a `look-pose-stamped' and a `robot-pose-stamped' (both in fixed frame),
 ;; calculate the new robot-pose-stamped, which is rotated with an angle to point towards ;; calculate the new robot-pose-stamped, which is rotated with an angle to point towards
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 Congratulations!!! You just created a shopping assistant using the Pepper robot.  Congratulations!!! You just created a shopping assistant using the Pepper robot. 
 +
 +You can access the entire project from [[https://github.com/danricky/cram-pepper|here]]