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nao_extras: nao_path_follower | nao_teleop

Package Summary

Enables a Nao humanoid to either walk to a target location (with localization feedback), or follow a planned 2D path closely. Sends nao_msgs to the nao_walker node in nao_driver.

nao_extras: nao_path_follower | nao_teleop

Package Summary

Enables a Nao humanoid to either walk to a target location (with localization feedback), or follow a planned 2D path closely. Sends naoqi_msgs to the nao_walker node in nao_apps.

nao_extras: nao_path_follower | nao_teleop

Package Summary

Enables a Nao humanoid to either walk to a target location (with localization feedback), or follow a planned 2D path closely. Sends naoqi_msgs to the nao_walker node in nao_apps.

nao_extras: nao_path_follower | nao_teleop

Package Summary

Enables a Nao humanoid to either walk to a target location (with localization feedback), or follow a planned 2D path closely. Sends naoqi_msgs to the nao_walker node in nao_apps.

Node API

nao_path_follower

Make Nao follow a given trajectory.

Subscribed Topics

foot_contact (std_msgs/Bool)
  • True = robot currently has foot contact with the ground.

Published Topics

cmd_pose (geometry_msgs/Pose2D)
  • Command to the pose controller (only if the use_vel_ctrl parameter is set to False)
cmd_vel (geometry_msgs/Twist)
  • Command to the velocity controller (only if the use_vel_ctrl parameter is set to True)
nao_path_follower/target_pose (geometry_msgs/PoseStamped)
  • ..
walk_path/goal (naoqi_msgs/FollowPathActionGoal)
  • ..
walk_target/goal (move_base_msgs/MoveBaseActionGoal)
  • ..

Parameters

base_frame_id (string, default: base_footprint)
  • Base frame of the robot.
controller_frequency (float, default: 10.0)
  • Desired frequency for controller loop in Hz.
target_distance_threshold (float, default: 0.05)
  • Maximum linear deviation to reach target point.
target_angle_threshold (float, default: rad(5 degrees))
  • Maximum angular deviation to reach target orientation.
waypoint_distance_threshold (float, default: 0.05)
  • Maximum linear deviation to switch to next waypoint on path
waypoint_angle_threshold (float, default: rad(45 degrees))
  • Maximum angular deviation to switch to next waypoint on path
max_vel_x (float, default: 0.7)
  • Maximum fraction of forward velocity for velocity controller, between 0.0 and 1.0.
max_vel_y (float, default: 0.7)
  • Maximum fraction of sideways velocity for velocity controller, between 0.0 and 1.0.
max_vel_yaw (float, default: 0.7)
  • Maximum fraction of rotational velocity for velocity controller, between 0.0 and 1.0.
step_freq (float, default: 0.5)
  • Step frequency (should be set to the same value as in nao_walker).
use_vel_ctrl (boolean, default: False)
  • True = use simple velocity controller, False = use Aldebaran's walkTo controller.
use_foot_contact_protection (boolean, default: True)
  • True = abort walk when robot is lifted off the ground
path_next_target_distance (float, default: 0.1)
  • Cumulative Distance to next Velocity Target from current robot pose along path
path_max_start_distance (float, default: 0.1)
  • Max distance to start of path from robot pose to accept path (safety)
threshold_damp_xy (float, default: 0.2)
  • Slow down when distance to goal is smaller than this value [in meters].
threshold_damp_yaw (float, default: rad(60 degrees))
  • Slow down rotation when angular deviation from goal pose is smaller than this value [in radians].

Wiki: nao_path_follower (last edited 2015-03-20 18:22:51 by StefanOsswald)