## repository: http://alufr-ros-pkg.googlecode.com/svn
<<PackageHeader(nao_description)>>
<<TOC(4)>>

{{attachment:nao_tf.png|Nao TF}}
== Documentation ==
Nao's URDF description contains all joints and links according to the [[http://www.aldebaran-robotics.com/documentation/|documentation by Aldebaran Robotics]] for V3 and V4 Naos. In accordance with [[http://www.ros.org/reps/rep-0105.html|REP-105 (Coordinate Frames for Mobile Platforms)]] and [[http://ros.org/reps/rep-0120.html|REP-120 (Coordinate Frames for Humanoid Robots)]] the root link is '''base_link''', directly connected to '''torso'''. The camera frames are '''!CameraBottom_frame''' and '''!CameraTop_frame'''. [[nao_remote]] publishes the '''odom -> base_link''' transform and a '''base_footprint''' frame, projected between the feet on the ground. The defined links for the end effectors are '''[l|r]_gripper''' for the arms and '''[l|r]_sole''' for the feet.

{{attachment:NaoUrdf.png|Nao Urdf|width=1250 height=1032}}

## AUTOGENERATED DON'T DELETE
## CategoryPackage
[[CategoryURDF]]