Only released in EOL distros:
Package Summary
Remote control package for the Nao robot. Provides a node for Nao joystick teleoperation and odometry remapping into ROS format. The motion commands should be sent to a nao_driver node, which in turn sends back robot state and odometry.
- Author: Armin Hornung
- License: BSD
- Source: svn http://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/nao_common
Package Summary
Remote control package for the Nao robot. Provides a node for Nao joystick teleoperation and odometry remapping into ROS format. The motion commands should be sent to a nao_driver node, which in turn sends back robot state and odometry.
- Author: Armin Hornung
- License: BSD
- Source: git https://github.com/ahornung/nao_common.git (branch: master)
Package Summary
Remote control package for the Nao robot. Provides a node for Nao joystick teleoperation and odometry remapping into ROS format. The motion commands should be sent to a nao_driver node, which in turn sends back robot state and odometry.
- Author: Armin Hornung
- License: BSD
- Source: git https://github.com/ahornung/nao_common.git (branch: master)
Contents
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 NaoSubscribed Topics
torso_odometry (nao_ctrl/TorsoOdometry)- Basic odometry of Nao's torso
- 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
- tf Frame ID of Nao's base (torso) link
- If true, roll and pitch of the odometry pose will be continuously copied from the IMU
- 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
- 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
- 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.
- 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.