Controlling Pepper using ROS

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Hi everyone!

I'd like connect Pepper with Rviz on Ubuntu 14.04 running with ROS indigo. I have been following this tutorial. In the last step, when I execute the next instruction:

roslaunch pepper_bringup pepper_full_py.launch nao_ip:=10.201.5.44 roscore_ip:=http://victor-VirtualBox:11311/

I 've had the following error that I can't solve:

... logging to /home/victor/.ros/log/9f08ebc0-d7ce-11ea-a34a-08002735138a/roslaunch-victor-VirtualBox-5010.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://victor-VirtualBox:35156/

SUMMARY
========

PARAMETERS
 * /naoqi_joint_states/use_odometry: True
 * /pepper_robot/camera/camera_nodelet_manager/num_worker_threads: 4
 * /pepper_robot/camera/depth/camera/calibration_file_bottom: file:///opt/ros/i...
 * /pepper_robot/camera/depth/camera/calibration_file_top: file:///opt/ros/i...
 * /pepper_robot/camera/depth/camera/color_space: 17
 * /pepper_robot/camera/depth/camera/frame_rate: 15
 * /pepper_robot/camera/depth/camera/resolution: 1
 * /pepper_robot/camera/depth/camera/source: 2
 * /pepper_robot/camera/depth/camera/use_ros_time: True
 * /pepper_robot/camera/depth_rectify_depth/interpolation: 0
 * /pepper_robot/camera/depth_registered_rectify_depth/interpolation: 0
 * /pepper_robot/camera/front/camera/calibration_file_bottom: file:///opt/ros/i...
 * /pepper_robot/camera/front/camera/calibration_file_top: file:///opt/ros/i...
 * /pepper_robot/camera/front/camera/color_space: 13
 * /pepper_robot/camera/front/camera/frame_rate: 15
 * /pepper_robot/camera/front/camera/resolution: 1
 * /pepper_robot/camera/front/camera/source: 0
 * /pepper_robot/camera/front/camera/use_ros_time: True
 * /pepper_robot/pose/pose_manager/poses/init/joint_names: ['Body']
 * /pepper_robot/pose/pose_manager/poses/init/positions: [0.0, 0.0, 1.39, ...
 * /pepper_robot/pose/pose_manager/poses/init/time_from_start: 1.5
 * /pepper_robot/pose/pose_manager/poses/zero/joint_names: ['Body']
 * /pepper_robot/pose/pose_manager/poses/zero/positions: [0.0, 0.0, 0.0, 0...
 * /pepper_robot/pose/pose_manager/poses/zero/time_from_start: 1.5
 * /pepper_robot/pose/pose_manager/xap: /opt/ros/indigo/s...
 * /pepper_robot/sonar/back/naoqi_sonar/frame_id: SonarBack_frame
 * /pepper_robot/sonar/back/naoqi_sonar/memory_key: Device/SubDeviceL...
 * /pepper_robot/sonar/back/naoqi_sonar/sonar_rate: 10
 * /pepper_robot/sonar/front/naoqi_sonar/frame_id: SonarFront_frame
 * /pepper_robot/sonar/front/naoqi_sonar/memory_key: Device/SubDeviceL...
 * /pepper_robot/sonar/front/naoqi_sonar/sonar_rate: 10
 * /robot_description: <?xml version="1....
 * /rosdistro: indigo
 * /rosversion: 1.11.21

NODES
  /pepper_robot/camera/depth/
    camera (pepper_sensors_py/camera.py)
  /pepper_robot/camera/front/
    camera (pepper_sensors_py/camera.py)
  /pepper_robot/sonar/back/
    naoqi_sonar (naoqi_sensors_py/sonar.py)
  /pepper_robot/pose/
    pose_controller (naoqi_pose/pose_controller.py)
    pose_manager (naoqi_pose/pose_manager.py)
  /
    nao_logger (naoqi_driver_py/naoqi_logger.py)
    naoqi_joint_states (naoqi_driver_py/naoqi_joint_states.py)
    naoqi_moveto (naoqi_driver_py/naoqi_moveto.py)
    pepper_laser (pepper_sensors_py/laser.py)
    robot_state_publisher (robot_state_publisher/state_publisher)
  /pepper_robot/sonar/front/
    naoqi_sonar (naoqi_sensors_py/sonar.py)
  /pepper_robot/camera/
    bottom_rectify_color (nodelet/nodelet)
    camera_nodelet_manager (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_hw_metric_rect (nodelet/nodelet)
    depth_registered_metric (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    depth_registered_sw_metric_rect (nodelet/nodelet)
    front_rectify_color (nodelet/nodelet)
    ir_rectify_ir (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    register_depth_front (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[robot_state_publisher-1]: started with pid [5031]
process[naoqi_joint_states-2]: started with pid [5032]
process[naoqi_moveto-3]: started with pid [5033]
process[nao_logger-4]: started with pid [5035]
process[pepper_robot/sonar/front/naoqi_sonar-5]: started with pid [5046]
process[pepper_robot/sonar/back/naoqi_sonar-6]: started with pid [5048]
process[pepper_laser-7]: started with pid [5059]
process[pepper_robot/camera/depth/camera-8]: started with pid [5062]
process[pepper_robot/camera/front/camera-9]: started with pid [5063]
process ...