DCM Bringup for Nao robot
The package contains launch and configuration files required to bring the robot's DCM Driver up and start the robot controllers. The package allows to control a robot from ROS, while communicating with Naoqi. You can control the robot either by calling DCM commands or ALMotion (by default).
Installation
- install dependencies
sudo apt-get install ros-indigo-nao-robot ros-indigo-nao-meshes ros-indigo-nao-control
- go to a workspace/src
clone naoqi_dcm_driver
clone nao_dcm_bringup
optionally, clone nao_moveit_config
- compile all packages with
catkin_make
How to use it
- first, wake up your robot and choose a stable pose
Trajectory control
- start the DCM Bringup providing the robot's IP
roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch robot_ip:=<ROBOT_IP>
you can launch MoveIt! (if installed previously) and control your robot (arms by default)
roslaunch nao_moveit_config moveit_planner.launch
- you need to check "Allow approximate IK solutions", and then you can control the planning_group via an interactive marker
Position control
To command joints positions via ROS:
- start the DCM bringup proving your robot's IP (be aware that the package will stop Autonomous Life on your robot):
roslaunch nao_dcm_bringup nao_dcm_H25_bringup_position.launch robot_ip:=<ROBOT_IP>
- send a position to the desired controller, for example
rostopic pub /nao_dcm/LWristYaw_position_controller/command std_msgs/Float64 "data: 0"
