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

Package Summary

ROS driver for miscellaneous sensors on NAO. Python bindings for camera, sonar and octomap C++: bindings for camera only (requires NAOqi to build)

  • Maintainer status: developed
  • Maintainer: Séverin Lemaignan <severin.lemaignan AT epfl DOT ch>, Vincent Rabaud <vincent.rabaud AT gmail DOT com>
  • Author: Séverin Lemaignan, Vincent Rabaud, Karsten Knese, Jack O'Quin, Ken Tossell, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy, Daniel Maier
  • License: LGPL and Apache2
  • Bug / feature tracker: https://github.com/ros-naoqi/naoqi_bridge/issues
  • Source: git https://github.com/ros-naoqi/naoqi_bridge.git (branch: master)
naoqi_bridge: naoqi_apps | naoqi_bridge_msgs | naoqi_driver | naoqi_driver_py | naoqi_pose | naoqi_sensors_py | naoqi_tools

Package Summary

ROS driver for miscellaneous sensors on NAO. Python bindings for camera, sonar and octomap C++: bindings for camera only (requires NAOqi to build)

  • Maintainer status: developed
  • Maintainer: Séverin Lemaignan <severin.lemaignan AT epfl DOT ch>, Vincent Rabaud <vincent.rabaud AT gmail DOT com>
  • Author: Séverin Lemaignan, Vincent Rabaud, Karsten Knese, Jack O'Quin, Ken Tossell, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy, Daniel Maier
  • License: LGPL and Apache2
  • Bug / feature tracker: https://github.com/ros-naoqi/naoqi_bridge/issues
  • Source: git https://github.com/ros-naoqi/naoqi_bridge.git (branch: master)

Package Summary

ROS driver for miscellaneous sensors on NAO. Python bindings for camera, sonar and octomap C++: bindings for camera only (requires NAOqi to build)

  • Maintainer: Séverin Lemaignan <severin.lemaignan AT epfl DOT ch>, Vincent Rabaud <vincent.rabaud AT gmail DOT com>
  • Author: Séverin Lemaignan, Vincent Rabaud, Karsten Knese, Jack O'Quin, Ken Tossell, Patrick Beeson, Nate Koenig, Andrew Howard, Damien Douxchamps, Dan Dennedy, Daniel Maier
  • License: LGPL and Apache2

Nodes

camera

camera publishes Nao's camera image by wrapping the Aldebaran Python NaoQI API. Note that there is a Python and a C++ version of this node. The camera node provides a camera info manager and is compatible with the camera_calibration package. Use rqt_reconfigure to select the camera and to change the camera parameters on the fly.

Published Topics

image_raw (sensor_msgs/Image)
  • Image stream (by default bgr8 encoding)
camera_info (sensor_msgs/CameraInfo)
  • Camera info providing the camera calibration data if available.

microphone

Publish audio buffers from microphones

Published Topics

~audio_raw (naoqi_msgs/AudioBuffer)
  • Raw audio buffers

Parameters

~use_ros_time (boolean, default: True)
  • Timestamp audio buffers using ros::Time::now() instead of NAOqi timestamps
~frequency (integer, default: 16000)
  • Audio sampling frequency

sonar

Node that publishes readings from the robot's sonar sensors in its chest.

Published Topics

sonar (sensor_msgs/Range)
  • Sonar readings

Parameters

~memory_key (string)
  • ALMemory key for the sensor readings. For Nao robots the keys are Device/SubDeviceList/US/Left/Sensor/Value or Device/SubDeviceList/US/Right/Sensor/Value.
~frame_id (string)
  • TF frame for the sensor readings. For Nao robots the frames are LSonar_frame or RSonar_frame.
~sonar_rate (float, default: 10.0)
  • Rate for publishing the sonar readings in Hz.

Wiki: naoqi_sensors_py (last edited 2015-08-03 15:18:11 by KarstenKnese)