Node API
nao_path_follower
Make Nao follow a given trajectory.Subscribed Topics
foot_contact (std_msgs/Bool)- True = robot currently has foot contact with the ground.
Published Topics
cmd_pose (geometry_msgs/Pose2D)- Command to the pose controller (only if the use_vel_ctrl parameter is set to False)
- Command to the velocity controller (only if the use_vel_ctrl parameter is set to True)
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Parameters
base_frame_id (string, default: base_footprint)- Base frame of the robot.
- Desired frequency for controller loop in Hz.
- Maximum linear deviation to reach target point.
- Maximum angular deviation to reach target orientation.
- Maximum linear deviation to switch to next waypoint on path
- Maximum angular deviation to switch to next waypoint on path
- Maximum fraction of forward velocity for velocity controller, between 0.0 and 1.0.
- Maximum fraction of sideways velocity for velocity controller, between 0.0 and 1.0.
- Maximum fraction of rotational velocity for velocity controller, between 0.0 and 1.0.
- Step frequency (should be set to the same value as in nao_walker).
- True = use simple velocity controller, False = use Aldebaran's walkTo controller.
- True = abort walk when robot is lifted off the ground
- Cumulative Distance to next Velocity Target from current robot pose along path
- Max distance to start of path from robot pose to accept path (safety)
- Slow down when distance to goal is smaller than this value [in meters].
- Slow down rotation when angular deviation from goal pose is smaller than this value [in radians].