boot_config1.json

{
  "_comment": "QQVGA = 0, QVGA = 1, VGA = 2",
  "converters":
  {
    "front_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "bottom_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "depth_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "ir_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "info":
    {
      "enabled"       : true,
      "frequency"     : 1
    },
    "logs":
    {
      "enabled"       : false,
      "frequency"     : 1
    },
    "diag":
    {
      "enabled"       : true,
      "frequency"     : 1
    },
    "imu_torso":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
    "imu_base":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
        "joint_states":
    {
      "enabled"       : true,
      "frequency"     : 50
    },
    "laser":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
    "sonar":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
    "audio":
    {
      "enabled"       : true
    },
    "bumper":
    {
      "enabled"       : true
    },
    "touch_hand":
    {
      "enabled"       : true
    },
    "touch_head":
    {
      "enabled"       : true
    },
        "odom":
    {
      "enabled"       : true,
      "frequency"     : 15
    }
  },
  "subscribers":
  {
    "speech":
    {
      "group_name"    : "robot1"
    },
    "moveto":
    {
      "group_name"    : "robot1"
    },
    "teleop":
    {
      "group_name"    : "robot1"
    }
  }
}

boot_config2.json

{
  "_comment": "QQVGA = 0, QVGA = 1, VGA = 2",
  "converters":
  {
    "front_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "bottom_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "depth_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "ir_camera":
    {
      "enabled"       : true,
      "resolution"    : 1,
      "fps"           : 10,
      "recorder_fps"  : 5
    },
    "info":
    {
      "enabled"       : true,
      "frequency"     : 1
    },
    "logs":
    {
      "enabled"       : false,
      "frequency"     : 1
    },
    "diag":
    {
      "enabled"       : true,
      "frequency"     : 1
    },
    "imu_torso":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
    "imu_base":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
        "joint_states":
    {
      "enabled"       : true,
      "frequency"     : 50
    },
    "laser":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
    "sonar":
    {
      "enabled"       : true,
      "frequency"     : 10
    },
    "audio":
    {
      "enabled"       : true
    },
    "bumper":
    {
      "enabled"       : true
    },
    "touch_hand":
    {
      "enabled"       : true
    },
    "touch_head":
    {
      "enabled"       : true
    },
        "odom":
    {
      "enabled"       : true,
      "frequency"     : 15
    }
  },
  "subscribers":
  {
    "speech":
    {
      "group_name"    : "robot2"
    },
    "moveto":
    {
      "group_name"    : "robot2"
    },
    "teleop":
    {
      "group_name"    : "robot2"
    }
  }
}

sample1.l

#!/usr/bin/env roseus
(ros::roseus "sample1")
(require :pepper-interface "package://peppereus/pepper-interface.l")
(pepper-init nil "robot1")
(unix:sleep 10)
(send *ri* :speak "Hello NAO!")

sample1.launch

<launch>
  <arg name="nao_ip"              default="$(optenv NAO_IP1 127.0.0.1)" />
  <arg name="nao_port"            default="$(optenv NAO_PORT 9559)" />

  <arg name="roscore_ip"          default="127.0.0.1" />
  <arg name="network_interface"   default="eth0" />

  <arg name="namespace"           default="$(optenv ROS_NAMESPACE pepper_robot)" />
  <arg name="boot_config_file_name" default="boot_config1.json" />

  <group ns="robot1">
    <!-- naoqi driver -->
    <include file="$(find naoqi_driver)/launch/naoqi_driver.launch">
      <arg name="nao_ip"                value="$(arg nao_ip)" />
      <arg name="nao_port"              value="$(arg nao_port)" />
      <arg name="roscore_ip"            value="$(arg roscore_ip)" />
      <arg name="network_interface"     value="$(arg network_interface)" />
      <arg name="namespace"             value="$(arg namespace)" />
      <arg name="boot_config_file_name" value="$(arg boot_config_file_name)" />
    </include>

    <!-- launch pose manager -->
    <include file="$(find naoqi_pose)/launch/pose_manager.launch" ns="$(arg namespace)/pose" >
      <arg name="nao_ip"            value="$(arg nao_ip)" />
      <arg name="nao_port"          value="$(arg nao_port)" />
    </include>
  </group>
</launch>

sample2.l

#!/usr/bin/env roseus
(ros::roseus "sample2")
(require :pepper-interface "package://peppereus/pepper-interface.l")
(pepper-init nil "robot2")
(unix:sleep 10)
(send *ri* :speak "Hello Pepper!")

sample2.launch

<launch>
  <arg name="nao_ip"              default="$(optenv NAO_IP2 127.0.0.1)" />
  <arg name="nao_port"            default="$(optenv NAO_PORT 9559)" />

  <arg name="roscore_ip"          default="127.0.0.1" />
  <arg name="network_interface"   default="eth0" />

  <arg name="namespace"           default="$(optenv ROS_NAMESPACE pepper_robot)" />
  <arg name="boot_config_file_name" default="boot_config2.json" />

  <group ns="robot2">
    <!-- naoqi driver -->
    <include file="$(find naoqi_driver)/launch/naoqi_driver.launch">
      <arg name="nao_ip"                value="$(arg nao_ip)" />
      <arg name="nao_port"              value="$(arg nao_port)" />
      <arg name="roscore_ip"            value="$(arg roscore_ip)" />
      <arg name="network_interface"     value="$(arg network_interface)" />
      <arg name="namespace"             value="$(arg namespace)" />
      <arg name="boot_config_file_name" value="$(arg boot_config_file_name)" />
    </include>

    <!-- launch pose manager -->
    <include file="$(find naoqi_pose)/launch/pose_manager.launch" ns="$(arg namespace)/pose" >
      <arg name="nao_ip"            value="$(arg nao_ip)" />
      <arg name="nao_port"          value="$(arg nao_port)" />
    </include>
  </group>
</launch>