In this tutorial, we will go through the steps of making Pepper speak from the installation of SDK (Software Development Kit) to the development of application using a virtual robot.
To develop robot applications, SDK must be installed in your computer first.
In this tutorial, we will be using Windows as an example.
Installing SDK [Choregraphe]
1. After downloading the appropriate Choregraphe setup installer from the "Downloads" page on Pepper Developer Portal website, open the installer file.
In Windows, the installer file name should look something like "choregraphe-suite-18.104.22.168-win32-setup.exe".
2. Click on [Next >] button to proceed.
3. Read through the License Agreement, and select [I accept the agreement] if you do, then click on [Next >] button.
4. When it asks for a License Key, enter the one that is provided on "Downloads" page on Pepper Developer Portal website: "654e-4564-153c-6518-2f44-7562-206e-4c60-5f47-5f45"
Select the [Quick] installation mode and the installation begins when you click on [Next >] button.
5. The installation will complete successfully if no error occurs.
This is the end of SDK installation. Select [Launch Choregraphe] and then click on [Finish] and Choregraph application will open automatically.
Start Choregraph from the Start Menu on Windows (double click on the icon in Application folder for Mac).
When this dialog box shows up, click on [New project...] under Create a robot application on the left hand side.
The main Choregraph window will look something like this:
With Choregraphe, you can use the virtual robot to simulate the application operations without having the actual robot hardware. The virtual robot is set to NAO by default. To change it to Pepper, please follow the instructions below:
1. Go to the [Edit] menu and select [Preferences].
2. Go to the [Virtual Robot] tab and select Pepper Y20 (V16) from the pull down list of Robot models, then click [OK].
3. The dialog box that asks to restart the virtual robot will show up. Click [Yes] to reflect the change on the Choregraphe main window.
The virtual robot will now be Pepper instead of NAO.
Now let's start creating some projects!
Developing and Simulating the application
Creating a New Project
To create a new project, click on [New Project...] on the Welcome Screen or go to the [File] menu and select [New project...].
Make sure that there's an empty flow is displayed in the flow diagram.
1. Go to the [Box libraries] pane and select Speech > Creation > Say. Drag & drop the "Say" box to the [Flow Diagram] pane.
2. Go back to the [Box libraries] pane, select Speech > Speech Settings > Set Language. Drag & drop the "Set Language" box to the [Flow Diagram] pane.
3. Connect the [onStart] input found on the left side bar of the flow diagram to the [onSet] input on Set Language box by dragging the cursor.
4. Connect the [onReady] output on Set Language box to the [onStart] input on Say box by dragging the cursor.
5. Connect the [onStopped] output on Say box to the [onStopped] output on the right side bar of the flow diagram by dragging the cursor.
By connecting the box to be executed last to the onStopped output on the flow diagram, it shows that the application terminates as the last box terminates.
6. Click on the parameter button placed at the bottom left corner of the Set Language box.
7. Set the language variable to English, and click [OK].
8. Go to the [File] menu and select [Save project as...].
Now let's use the virtual robot to simulate the application you created!
Simulating on virtual robot
1. Go to the [Connection] menu and select [Connect to virtual robot].
The virtual robot will appear on the [Robot view] pane.
2. Go to the [View] menu and select [Dialog]. The Dialog pane will appear somewhere on the Choreograph main window.
3. Click on [Upload to the robot and play] button on the toolbar. If "Robot: Hello" appears on the [Dialog] pane, the application is working successfully.
Connecting to Pepper
Now let's execute the application using a real robot!
1. Click on [Connect to...] button on the toolbar.
2. It shows the list of available robots to connect. Select your Pepper and click [Select].
3. Click on [Upload to the robot and play] button on the toolbar. If Pepper says "Hello" then the application is working successfully.
The placing and connecting of various boxes are the fundamental steps to developing Pepper applications with Choregraph.