Show EOL distros: 

naoqi_bridge: naoqi_apps | naoqi_bridge_msgs | naoqi_driver | naoqi_driver_py | naoqi_pose | naoqi_sensors_py | naoqi_tools

Package Summary

Python implementation of the driver package for the Naoqi robot, providing access to walking commands, joint angles, and sensor data (odometry, IMU, ...). The most-current version is compatible with the Nao API version 1.12 or newer, connecting to a real or simulated Nao by wrapping Aldebaran Robotics' NaoQI API in Python. This requires the "lib" directory of the Aldebaran Python SDK to be in your PYTHONPATH environment variable. Note that cameras drivers are provided in a separate package (naoqi_sensors_py).

naoqi_bridge: naoqi_apps | naoqi_bridge_msgs | naoqi_driver | naoqi_driver_py | naoqi_pose | naoqi_sensors_py | naoqi_tools

Package Summary

Python implementation of the driver package for the Naoqi robot, providing access to walking commands, joint angles, and sensor data (odometry, IMU, ...). The most-current version is compatible with the Nao API version 1.12 or newer, connecting to a real or simulated Nao by wrapping Aldebaran Robotics' NaoQI API in Python. This requires the "lib" directory of the Aldebaran Python SDK to be in your PYTHONPATH environment variable. Note that cameras drivers are provided in a separate package (naoqi_sensors_py).

naoqi_bridge: naoqi_apps | naoqi_bridge_msgs | naoqi_driver | naoqi_driver_py | naoqi_pose | naoqi_sensors_py | naoqi_tools

Package Summary

Python implementation of the driver package for the Naoqi robot, providing access to walking commands, joint angles, and sensor data (odometry, IMU, ...). The most-current version is compatible with the Nao API version 1.12 or newer, connecting to a real or simulated Nao by wrapping Aldebaran Robotics' NaoQI API in Python. This requires the "lib" directory of the Aldebaran Python SDK to be in your PYTHONPATH environment variable. Note that cameras drivers are provided in a separate package (naoqi_sensors_py).

naoqi_bridge: naoqi_apps | naoqi_bridge_msgs | naoqi_driver | naoqi_driver_py | naoqi_pose | naoqi_sensors_py | naoqi_tools

Package Summary

Python implementation of the driver package for the Naoqi robot, providing access to walking commands, joint angles, and sensor data (odometry, IMU, ...). The most-current version is compatible with the Nao API version 1.12 or newer, connecting to a real or simulated Nao by wrapping Aldebaran Robotics' NaoQI API in Python. This requires the "lib" directory of the Aldebaran Python SDK to be in your PYTHONPATH environment variable. Note that cameras drivers are provided in a separate package (naoqi_sensors_py).

Nodes

nao_joint_states

Reads Nao's sensors and torso odometry through the Aldebaran API.

Published Topics

odom (nav_msgs/Odometry)
  • Odometry
imu (sensor_msgs/Imu)
  • Readings from the inertial measurement unit
joint_states (sensor_msgs/JointState)
  • Current joint angle values
joint_stiffness (sensor_msgs/JointState)
  • Current joint stiffness values

Parameters

~sensor_rate (float, default: 25.0)
  • Rate for reading the sensors. The maximum acceptable value is 50 Hz.
~base_frame_id (string, default: base_link)
  • Name of the base TF frame
~odom_frame_id (string, default: odom)
  • Name of the odometry TF frame
~use_joint_sensors (boolean, default: True)
  • Use sensor values or commanded (open-loop) values for joint angles. Set to False in simulation!

Provided tf Transforms

base_linkodom
  • Odometry transform (TF frame names can be configured using the corresponding parameters).

naoqi_moveto_listener

Move to a given goal pose.

Subscribed Topics

/move_base_simple/goal (geometry_msgs/PoseStamped)

nao_logger

Send Nao log messages to rosout

Published Topics

/rosout (rosgraph_msgs/Log)

Wiki: naoqi_driver_py (last edited 2015-08-03 15:02:31 by KarstenKnese)