Aldebaran Robotics Nao

Nao_robot.jpg ROS Software Maintainer: Armin Hornung, University of Freiburg

Nao is a commercially available humanoid robot built by Aldebaran Robotics. The ROS driver is provided by Freiburg's Humanoid Robots Lab, which essentially wraps the needed parts of Aldebaran's NaoQI API and makes it available in ROS. It also provides a complete robot model (URDF).

Robots using ROS: Aldebaran Nao

Robots using ROS: Uni Freiburg's "Osiris" Nao

Installation

Getting Started

  • Start all robot nodes: nao_bringup

  • See getting started for a walk-through guide to installing ROS, NAOqi, and rviz (may be outdated by now).

Library Overview

The core functionality is implemented in the nao_robot stack (can be installed on the robot or on a remote PC), extended with further functionality in nao_extras (should be installed on a remote PC). For an outline of these libraries, please see the tables below.

Basic Configuration

Capability

ROS package/stack

Robot-specific Messages and Services

nao_msgs

Robot model (URDF)

nao_description

Hardware Drivers and Simulation

Component

ROS package/stack

Actuator drivers

nao_driver

Sensor drivers

nao_driver

Simulation (3D)

Use a simulated Nao in Webots and connect the driver to NaoQI on your local machine

High-Level Capabilities

Component

ROS package/stack

Teleop

nao_teleop

Footstep planning

footstep_planner

Execute / manage body poses

nao_pose

Follow 2D path / walk to target

nao_path_follower

Diagnostics / Visualization

nao_dashboard

Wiki: Robots/Nao (last edited 2013-10-28 13:42:24 by ArminHornung)