added pepper nodes and experiment script

experiment.py

+#!/usr/bin/env python
+
+#import ROS dependencies
+import rospy
+import time
+import sys
+
+#import NAO dependencies
+from naoqi_driver.naoqi_node import NaoqiNode
+from std_msgs.msg import String, Empty
+
+class Experiment(NaoqiNode):
+
+	def __init__(self):
+		NaoqiNode.__init__(self, 'persuasion_experiment')
+		self.connectNaoQi()
+
+		#self.ledsProxy = self.get_proxy("ALLeds")
+		#self.ledsProxy.fadeRGB("FaceLeds","white",1) #different colour for each condition, maybe pink & blue or blue & green
+		#self.basicAwarenessProxy = self.get_proxy("ALBasicAwareness")
+		self.robotPostureProxy = self.get_proxy("ALRobotPosture")
+		self.motionProxy = self.get_proxy("ALMotion")
+		self.tabletProxy = self.get_proxy("ALTabletService")
+		#self.animspeechProxy = self.get_proxy("ALAnimatedSpeech") 
+		
+		self.robotPostureProxy.goToPosture("Stand", 0.5)
+		self.motionProxy.setAngles("HeadPitch", -0.36, 0.1)
+		#self.basicAwarenessProxy.setTrackingMode("Head")		
+
+		self.start_sub = rospy.Subscriber('exp_start', Empty, self.start_CB)
+		self.rep_sub = rospy.Subscriber('exp_rep', Empty, self.rep_CB)
+		#self.setStart_sub = rospy.Subscriber('set_start', Empty, self.setStart_CB)
+		self.stop_sub = rospy.Subscriber('exp_stop', Empty, self.stop_CB)
+		self.continue_sub = rospy.Subscriber('exp_continue', Empty, self.continue_CB)
+		#self.setFinish_sub = rospy.Subscriber('set_finish', Empty, self.setFinish_CB)
+		self.dontknow_sub = rospy.Subscriber('exp_dontknow', Empty, self.dontknow_CB)
+		self.correction_sub = rospy.Subscriber('exp_correction', Empty, self.correction_CB)
+		self.finish_sub = rospy.Subscriber('exp_finish', Empty, self.finish_CB)
+		self.observations_sub = rospy.Subscriber('exp_observations', String, self.observations_CB)
+		self.complete_sub = rospy.Subscriber('exp_complete', Empty, self.complete_CB)
+
+		self.start_time = 0
+		self.finish_time = 0
+		#self.setList = []
+		self.numberOfEncouragements = 0
+		self.amountOfCorrection = 0
+		self.amountOfDontknow=0
+		#self.numberOfCompleteSets = 0
+		#self.numberOfStartedSets = 0
+		#self.set_durations = []
+		self.timeSpent = 0
+		self.numberOfReps = 0
+		self.forcedFinish = 0
+		self.observations = ""
+
+
+	def connectNaoQi(self):
+		rospy.loginfo("Connecting to NaoQi at %s:%d", self.pip, self.pport)
+
+	def start_CB(self, Empty):
+		self.start_time = rospy.get_rostime()
+		time.sleep(3)
+		#go to stand init too?
+		#self.motionProxy.setAngles("HeadPitch", 0.0005, 0.1)
+		self.motionProxy.setAngles("HeadPitch", -0.16, 0.1)
+		#print("Overall start time is: " + str(self.start_time.secs))
+
+	# def setStart_CB(self, Empty):
+	# 	self.setList.append(["start_set", rospy.get_rostime()])
+	# 	self.numberOfCompleteSets+=1
+	# 	self.numberOfStartedSets+=1
+
+	def rep_CB(self, Empty):
+		self.numberOfReps+=1
+		if self.numberOfReps == 5:
+		 	self.motionProxy.setAngles("HeadPitch", -0.26, 0.1) #may need to reduce this to ensure can clearly see reps, or may have to not move head at all if makes too difficult
+		 	#self.animspeechProxy.say("^mode(disabled) ^start(animations/Stand/Gestures/Explain_2) You're doing well, keep going")
+		 	time.sleep(1)
+		 	#self.robotPostureProxy.goToPosture("Stand", 0.3)
+		 	self.motionProxy.setAngles("HeadPitch", 0.0, 0.1)
+		 	self.numberOfEncouragements+=1
+		if self.numberOfReps == 10:
+		 	self.motionProxy.setAngles("HeadPitch", -0.26, 0.1)
+		 	#self.animspeechProxy.say("^mode(disabled) ^start(animations/Stand/Gestures/Explain_2) Excellent work, keep it up.")
+		 	time.sleep(1)
+		 	self.motionProxy.setAngles("HeadPitch", 0.0, 0.1)
+		 	self.numberOfEncouragements+=1
+		if self.numberOfReps == 15:
+		 	self.motionProxy.setAngles("HeadPitch", -0.26, 0.1)
+		 	#self.animspeechProxy.say("^mode(disabled) ^start(animations/Stand/Gestures/Explain_2) Great effort, you can do it")
+		 	time.sleep(1)
+		 	self.motionProxy.setAngles("HeadPitch", 0.0, 0.1)
+		 	self.numberOfEncouragements+=1
+		if self.numberOfReps == 20:
+		 	self.motionProxy.setAngles("HeadPitch", -0.26, 0.1)
+		 	#self.animspeechProxy.say("^mode(disabled) ^start(animations/Stand/Gestures/Explain_2) Good job, keep it going.")
+		 	time.sleep(1)
+		 	self.motionProxy.setAngles("HeadPitch", 0.0, 0.1)
+		 	self.numberOfEncouragements+=1
+		if self.numberOfReps == 25:
+		 	self.motionProxy.setAngles("HeadPitch", -0.26, 0.1)
+		 	#self.animspeechProxy.say("^mode(disabled) ^start(animations/Stand/Gestures/Explain_2) You're doing great.")
+		 	time.sleep(1)
+		 	self.motionProxy.setAngles("HeadPitch", 0.0, 0.1)
+		 	self.numberOfEncouragements+=1
+		if self.numberOfReps == 30: #maybe have a forced finish here but need to pilot to see if its enough
+		 	self.motionProxy.setAngles("HeadPitch", -0.36, 0.1)
+		 	self.forcedFinish = 1
+		 	#self.animspeechProxy.say("^mode(disabled) ^start(animations/Stand/Gestures/Explain_2) You've done a lot! I think that's enough for today.")
+		 		#self.motionProxy.setAngles("HeadPitch", 0.059, 0.1)
+
+	def continue_CB(self, Empty):
+		self.motionProxy.setAngles("HeadPitch", 0.059, 0.1)
+
+	def stop_CB(self, Empty):
+		self.motionProxy.setAngles("HeadPitch", -0.16, 0.1)
+		#self.setList.append(["interrupt", rospy.get_rostime()])
+		#self.numberOfCompleteSets-=1
+
+	# def setFinish_CB(self, Empty):
+	# 	self.setList.append(["finish_set", rospy.get_rostime()])
+
+	def dontknow_CB(self, Empty):
+		self.amountOfDontknow+=1
+
+	def correction_CB(self, Empty):
+		self.amountOfCorrection+=1
+
+	def finish_CB(self, Empty):
+		self.finish_time = rospy.get_rostime()
+		self.tabletProxy.hideImage()
+		timeSpent = self.finish_time - self.start_time
+		self.timeSpent = timeSpent.to_sec()
+		#self.setList.append(["finish_overall", rospy.get_rostime()])
+		#self.ledsProxy.fadeRGB("FaceLeds","orange",1)
+		#print("Overall duration is: %.2f seconds" %(time_on_task_seconds))
+		#print self.setList
+		#set_durations = []
+		#for item in self.setList:
+			#index = self.setList.index(item)
+			#event = self.setList[index]
+			#if event[0] == "start_set": #start will always indicate start of a set, even if after e.g. an interruption
+				#next_event = self.setList[index+1]
+				#start_time = event[1]
+				#end_time = next_event[1]
+				#set_duration = end_time - start_time
+				#self.set_durations.append(set_duration.to_sec())
+		#print set_durations
+		#self.overall_timeSpent = sum(self.set_durations) #overall time exercising is sum of set durations
+
+
+	def observations_CB(self, string):
+		self.observations = string.data
+
+	def complete_CB(self, Empty):
+		#self.robotPostureProxy.goToPosture("Stand", 0.6)
+		file = open("G29.csv","w")
+		file.write("G29" + ',' ) #participant id
+		#file.write("Condition: testing" + ',' )
+		file.write("%i" %(self.numberOfReps) + ',' ) #number of reps
+		file.write("%i" %(self.forcedFinish) + ',' ) #forced finish 0 = not 
+		file.write("%i" %(self.numberOfEncouragements) + ',' ) #number of encouragements given
+		file.write("%.2f" %(self.timeSpent) + ',') #time spent exercising in seconds
+		file.write("%i" %(self.amountOfCorrection) + ',') #number of corrections given
+		file.write("%i" %(self.amountOfDontknow) + ',') #number of times had to use don't know
+		file.write("%s" %(self.observations)) #any observations
+		#file.write("List of events is: " + str(self.setList) + '\n')
+		#file.write("Number of started sets is: %i" %(self.numberOfStartedSets) + '\n') #indicates may want to add on a few extra reps (wizard should note any such)
+		#file.write("Number of completed sets is: %i" %(self.numberOfCompleteSets) + '\n')
+		#file.write("Duration of each set is: " + str(self.set_durations) + '\n')
+		#file.write("Time spent exercising is: %.2f seconds" %(self.overall_timeSpent) + '\n')
+
+		print("Experiment complete, ctrl+c to kill this script")
+
+if __name__ == '__main__':
+	
+	experiment_listener = Experiment()
+	experiment_listener.start()
+
+	rospy.spin()
\ No newline at end of file

my_pepper_full_py.launch

+<launch>
+
+  <arg name="nao_ip"            default="$(optenv NAO_IP 127.0.0.1)" />
+  <arg name="nao_port"          default="$(optenv NAO_PORT 9559)" />
+  <arg name="namespace"           default="pepper_robot" />
+
+  <!-- Use CPP node by default for nao_sensors -->
+  <arg name="force_python" default="true" />
+  <include file="$(find pepper_description)/launch/pepper_publisher.launch" />
+
+  <!-- nao driver works for pepper -->
+  <include file="$(find naoqi_driver_py)/launch/naoqi_driver.launch">
+    <arg name="nao_ip"    value="$(arg nao_ip)" />
+  </include>
+
+  <!--my own package of extra nodes-->
+  <include file="$(find my_pepper_nodes)/launch/my_naoqi_nodes.launch">
+    <arg name="nao_ip"    value="$(arg nao_ip)" />
+  </include>
+
+<!--
+  <include file="$(find pepper_sensors_py)/launch/sonar.launch" >
+    <arg name="nao_ip"    value="$(arg nao_ip)" />
+  </include>
+  <include file="$(find pepper_sensors_py)/launch/laser.launch" >
+    <arg name="nao_ip"    value="$(arg nao_ip)" />
+  </include>
+-->
+  <include file="$(find pepper_sensors_py)/launch/camera.launch" ns="$(arg namespace)/camera/depth" >
+    <arg name="nao_ip"    value="$(arg nao_ip)" />
+    <arg name="source"          value="2" />
+    <arg name="color_space"     value="17" />
+    <arg name="resolution"      value="1" />
+  </include>
+  <include file="$(find pepper_sensors_py)/launch/camera.launch" ns="$(arg namespace)/camera/front" >
+    <arg name="nao_ip"    value="$(arg nao_ip)" />
+    <arg name="source"          value="0" />
+    <arg name="color_space"     value="13" />
+  </include>
+  
+  <!-- launch pose manager -->
+  <include file="$(find naoqi_pose)/launch/pose_manager.launch" ns="$(arg namespace)/pose" >
+    <arg name="nao_ip"            value="$(arg nao_ip)" />
+  </include>
+
+  <!-- launch perception -->
+  <include file="$(find pepper_bringup)/launch/perception.launch.xml">
+    <arg name="namespace"         value="$(arg namespace)" />
+  </include>
+
+</launch>

my_pepper_nodes/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(my_pepper_nodes)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES my_pepper_nodes
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(my_pepper_nodes
+#   src/${PROJECT_NAME}/my_pepper_nodes.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(my_pepper_nodes ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(my_pepper_nodes_node src/my_pepper_nodes_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(my_pepper_nodes_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(my_pepper_nodes_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS my_pepper_nodes my_pepper_nodes_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_pepper_nodes.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

my_pepper_nodes/include/my_pepper_nodes/naoqi_anim_speech.py

+#!/usr/bin/env python
+
+#import ROS dependencies
+import rospy
+
+#import NAO dependencies
+from naoqi_driver.naoqi_node import NaoqiNode
+from std_msgs.msg import String
+
+class AnimSpeechListener(NaoqiNode):
+
+	def __init__(self):
+		NaoqiNode.__init__(self, 'naoqi_animspeech_listener')
+		self.connectNaoQi()
+		self.animspeech_sub = rospy.Subscriber('pepper_robot/animspeech', String, self.animspeech_CB)
+
+	def connectNaoQi(self):
+		rospy.loginfo("Connecting to NaoQi at %s:%d", self.pip, self.pport)
+		self.animspeechProxy = self.get_proxy("ALAnimatedSpeech")
+		if self.animspeechProxy is None:
+			exit(1)
+
+	def animspeech_CB(self, string):
+		#string = str(string)
+		self.animspeechProxy.say(string.data)
+
+if __name__ == '__main__':
+
+	animspeech_listener = AnimSpeechListener()
+	animspeech_listener.start()
+
+	rospy.spin()
\ No newline at end of file

my_pepper_nodes/include/my_pepper_nodes/naoqi_image.py

+#!/usr/bin/env python
+#import ROS dependencies
+import rospy
+
+#import NAO dependencies
+from naoqi_driver.naoqi_node import NaoqiNode
+from std_msgs.msg import String
+import qi
+import argparse
+import sys
+import time
+
+
+class ImageListener(NaoqiNode):
+
+	def __init__(self):
+		NaoqiNode.__init__(self, 'naoqi_image_listener')
+		self.connectNaoQi()
+		self.animspeech_sub = rospy.Subscriber('pepper_robot/image', String, self.image_CB)
+
+	def connectNaoQi(self):
+		rospy.loginfo("Connecting to NaoQi at %s:%d", self.pip, self.pport)
+		self.session = qi.Session()
+		self.tabletService = self.session.service("ALTabletService")
+
+
+	def image_CB(self, string):
+		#string = str(string)
+		self.tabletService.showImage(string.data)		
+
+if __name__ == '__main__':
+	image_listener = ImageListener()
+	image_listener.start()
+
+	rospy.spin()
\ No newline at end of file

my_pepper_nodes/include/my_pepper_nodes/naoqi_speech.py

+#!/usr/bin/env python
+#import ROS dependencies
+import rospy
+
+#import NAO dependencies
+from naoqi_driver.naoqi_node import NaoqiNode
+from std_msgs.msg import String
+
+class SpeechListener(NaoqiNode):
+
+	def __init__(self):
+		NaoqiNode.__init__(self, 'naoqi_tts_listener')
+		self.connectNaoQi()
+		self.tts_sub = rospy.Subscriber('pepper_robot/tts', String, self.tts_CB)
+
+	def connectNaoQi(self):
+		rospy.loginfo("Connecting to NaoQi at %s:%d", self.pip, self.pport)
+		self.ttsProxy = self.get_proxy("ALTextToSpeech")
+		if self.ttsProxy is None:
+			exit(1)
+
+	def tts_CB(self, string):
+		#string = str(string)
+		self.ttsProxy.say(string.data)
+
+if __name__ == '__main__':
+
+	speech_listener = SpeechListener()
+	speech_listener.start()
+
+	rospy.spin()
\ No newline at end of file

my_pepper_nodes/launch/my_naoqi_nodes.launch

+<launch>
+  <!--
+    start Nao control and sensor nodes so that they connect to a local NaoQI
+    (e.g. a local simulated one or when running directly on the robot).
+
+    For a remote connection, change IP and port accordingly in the NAO_IP and NAO_PORT 
+    environment variables.
+  -->
+
+  <!--
+  	This pushes the local PYTHONPATH into the launch file, so that the NaoQI API is found.
+    You need to add the Nao's API dir to your PYTHONPATH so that the modules are found.
+  -->
+  <env name="PYTHONPATH" value="$(env PYTHONPATH)" />
+
+  <arg name="nao_ip" default="$(optenv NAO_IP 127.0.0.1)" doc="Robot IP address. On robot or Local NaoQI" />
+  <arg name="nao_port" default="$(optenv NAO_PORT 9559)" doc="NaoQI port number" />
+
+  <!-- start robot agnostic nodes -->
+  <node pkg="my_pepper_nodes" type="naoqi_anim_speech.py" name="naoqi_anim_speech" required="true" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" output="screen" />
+  <node pkg="my_pepper_nodes" type="naoqi_speech.py" name="naoqi_speech" required="true" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" output="screen" />
+  <node pkg="my_pepper_nodes" type="naoqi_image.py" name="naoqi_image" required="true" args="--pip=$(arg nao_ip) --pport=$(arg nao_port)" output="screen" />
+</launch>

my_pepper_nodes/package.xml

+<?xml version="1.0"?>
+<package>
+  <name>my_pepper_nodes</name>
+  <version>0.0.0</version>
+  <description>Launches additional nodes to be used with pepper bring up for ros</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="katiewinkle@todo.todo">katiewinkle</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/my_pepper_nodes</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
\ No newline at end of file

my_pepper_nodes/setup.py

+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+	packages=['my_pepper_nodes'],
+	package_dir={'': 'include'},
+)
+setup(**setup_args)
\ No newline at end of file