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Documentation

Note that the node for teleoperation (gamepad control) of Nao is now in its own package at nao_teleop.

Visualization in RViz

When the remote nodes for Nao are up and running, you can visualize the following topics in rviz (set fixed and target frame to /odom):

• Robot Model: Basic visualization of Nao's joint state (from nao_description through robot_state_publisher), topic "robot_description"

• TF: full transforms to all joints and cameras (from nao_description through robot_state_publisher)

• Odometry: topic "/odom"

Nodes

remap_odometry

Creates proper ROS odometry from the RAW odometry originating from Nao

Subscribed Topics

torso_odometry (nao_ctrl/TorsoOdometry)

• Basic odometry of Nao's torso

torso_imu (nao_ctrl/TorsoIMU)

• Data from Nao's internal IMU

Published Topics

odom (nav_msgs/Odometry)

• ROS style odometry (only the Pose is set at the moment)

Parameters

~odom_frame_id (String, default: odom)

• tf Frame ID of odometry frame

~base_frame_id (String, default: base_link)

• tf Frame ID of Nao's base (torso) link

~use_imu_angles (bool, default: false)

• If true, roll and pitch of the odometry pose will be continuously copied from the IMU

~init_from_imu (bool, default: false)

• If true, roll and pitch of the odometry pose will be initialized using the IMU angles during initialization and when resume_odometry service is called

~init_from_odometry (bool, default: false)

• If true, roll and pitch of the odometry pose will be initialized using the kinematic chain during initialization and when resume_odometry service is called

~imu_topic (String, default: torso_imu)

• Topic name of IMU messages to be used when use_imu_angles, init_from_imu or reset_orientation_after_resume is true

Required tf Transforms

base_link → {L,R}Foot_link

• Requires the transforms to the feet (from robot_state_publisher) to compute the base_footprint frame

Provided tf Transforms

odom → base_link

• Odometry transform from odom frame to Nao's torso. The name of the frames can be adjusted with the parameters above.

base_link → base_footprint

• Computed footprint of the robot on the ground (z=0). This pose is always between the two feet with the orientation (yaw) of the torso.

pose_manager

Creates whole-body poses and motions from joint trajectories stored on the param server