Aldebaran Nao

Nao_robot.jpg

Nao is a commercially available humanoid robot built by Aldebaran. The ROS driver was originally developed by Freiburg's Humanoid Robots Lab and Armin Hornung. It essentially wraps the needed parts of Aldebaran's NaoQI API (versions 1.14 and 2.1) 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

Community

There is an official SIG for NaoQI and Aldebaran's robots at https://groups.google.com/forum/?fromgroups#!forum/ros-sig-aldebaran. Please subscribe to it to get the latest news !

Tutorials

A complete list of tutorials can be found under tutorials. This includes the installation, startup and further advanced instructions how to connect ROS with your NAO.

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  • See getting started for a walk-through guide to installing ROS, NAOqi, and rviz (may be outdated by now).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

sudo apt-get install ros-.*-nao-robot
sudo apt-get install ros-.*-nao-extras

For an outline of the libraries included, please see the tables below.

Basic Configuration

Capability

ROS package/stack

Robot-specific Messages and Services

naoqi_bridge_msgs

Robot model (URDF)

nao_description

Robot meshes

nao_meshes

Hardware Drivers and Simulation

Component

ROS package/stack

Actuator drivers

naoqi_driver naoqi driver C++

naoqi_driver_py naoqi driver Python

Basic sensor drivers

naoqi_driver naoqi driver C++

naoqi_driver_py naoqi driver Python

Sensor drivers

naoqi_sensors_py

Robot control

nao_dcm_bringup

High-Level Capabilities

Component

ROS package/stack

Teleop

nao_teleop

Footstep planning

footstep_planner

Execute / manage body poses

naoqi_pose

Follow 2D path / walk to target

nao_path_follower

Diagnostics / Visualization

naoqi_dashboard

Interaction

nao_interaction

Planning / MoveIt!

nao_moveit_config

And more at nao_extras.

Simulation

You have the following options for simulating NAO:

  • You can use a simulated Nao in Webots and connect the driver to NaoQI on your local machine.

  • You can use a simulated Nao in Gazebo using plain ros_control architecture and no NaoQI features.

  • You can use a simulated Nao in Gazebo and connect the driver to NaoQI on your local machine.

Wiki: nao (last edited 2016-09-15 06:56:15 by NataliaLyubova)