Documentation

Note that the node for teleoperation (gamepad control) of Nao is now in its own package at nao_teleop.

Visualization in RViz

nao_rviz.png

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):

Nodes

remap_odometry

Creates proper ROS odometry from the RAW odometry originating from Nao

Subscribed Topics

torso_odometry (nao_ctrl/TorsoOdometry)
  • Basic odometry of Nao's torso
torso_imu (nao_ctrl/TorsoIMU)
  • 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
~base_frame_id (String, default: base_link)
  • tf Frame ID of Nao's base (torso) link
~use_imu_angles (bool, default: false)
  • If true, roll and pitch of the odometry pose will be continuously copied from the IMU
~init_from_imu (bool, default: false)
  • 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
~init_from_odometry (bool, default: false)
  • 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
~imu_topic (String, default: torso_imu)
  • 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

odombase_link
  • Odometry transform from odom frame to Nao's torso. The name of the frames can be adjusted with the parameters above.
base_linkbase_footprint
  • 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.

pose_manager

Creates whole-body poses and motions from joint trajectories stored on the param server

Wiki: nao_remote (last edited 2011-11-30 12:54:59 by ArminHornung)