[Documentation] [TitleIndex] [WordIndex

  Show EOL distros: 

nao_robot: nao_apps | nao_bringup | nao_description

Package Summary

Applications for NAO using the NAOqi API

Package Summary

Applications for NAO using the NAOqi API

  • Maintainer status: maintained
  • Maintainer: Vincent Rabaud <vincent.rabaud AT gmail DOT com>
  • Author:
  • License: BSD

Nodes

nao_alife

ROS node to interface with Naoqi Autonomous Life modules. See the Nao documentation for a description of the individual states.

Services

nao_alife/disabled (std_srvs/Empty) nao_alife/interactive (std_srvs/Empty) nao_alife/safeguard (std_srvs/Empty) nao_alife/solitary (std_srvs/Empty)

nao_behaviors

nao_behaviors allows you to query and execute pre-recorded actions on the NAO. Note a node may only execute one behaviour at a time. You can use choregraphe to generate behaviors (Box libraries->Templates->Animation).

Action Goal

run_behavior (naoqi_msgs/RunBehaviorGoal)

Services

get_installed_behaviors (naoqi_msgs/GetInstalledBehaviors)

nao_diagnostic_updater

This script collects diagnostic information on a Nao robot and publishes the information as DiagnosticArray messages (last tested with NaoQI 1.10.52). CPU temperature and network status will only be available if the script runs directly on the robot.

Published Topics

diagnostics (diagnostic_msgs/DiagnosticArray)

nao_footsteps

nao_footsteps handles footsteps meant to be executed on the NAO robot. It offers a topic and a service to execute footsteps on the NAO robot, as well as a service to clip footsteps which can be afterwards performed by the NAO robot.

Subscribed Topics

footstep (humanoid_nav_msgs/StepTarget)

Services

footstep_srv (humanoid_nav_msgs/StepTargetService) clip_footstep_srv (humanoid_nav_msgs/ClipFootstep)

Parameters

~init_stiffness (float, default: 0.0)

nao_leds

nao_leds can control all the LEDs on the NAO. It also allows to activate a customazible blinking behavior.

Action Goal

blink (naoqi_msgs/BlinkGoal)

Subscribed Topics

fade_rgb (naoqi_msgs/FadeRGB)

nao_speech

Node leverages both NaoQi's text-to-speech and speech recognition engines and exposes them to ROS. It is possible to have several concurrent nodes of this type, each one configured with different parameters.

Action Goal

speech_action/goal (naoqi_msgs/SpeechWithFeedback) /speech_vocabulary_action/goal (naoqi_msgs/SetSpeechVocabulary)

Subscribed Topics

speech (std_msgs/String)

Published Topics

word_recognized (naoqi_msgs/WordRecognized)

Services

reconfigure (std_srvs/Empty) start_recognition (std_srvs/Empty) stop_recognition (std_srvs/Empty)

Parameters

~voice (string, default: current voice) ~language (string, default: current language) ~volume (float, default: current volume) ~vocabulary (list of strings, default: empty list) ~enable_audio_expression (boolean, default: current value) ~enable_visual_expression (boolean, default: current value) ~word_spotting (boolean, default: false)

nao_tactile

Publishes sensor data of Nao's tactile sensors and bumpers. A message is sent whenever the state of the touch sensors or bumpers change, and the full state (pressed / touched or not) is sent.

Published Topics

tactile_touch (naoqi_msgs/TactileTouch) bumper (naoqi_msgs/Bumper) foot_contact (std_msgs/Bool)

nao_walker

nao_walker provides teleoperation with an omnidirectional walk by wrapping the Aldebaran Python NaoQI API. Accessing Nao's speech synthesis is also possible with the topic speech.

Subscribed Topics

cmd_vel (geometry_msgs/Twist) cmd_pose (geometry_msgs/Pose2D) cmd_step (humanoid_nav_msgs/StepTarget)

Services

read_foot_gait_config_srv (std_srvs/Empty) cmd_vel_srv (naoqi_msgs/CmdVelService) cmd_step_srv (humanoid_nav_msgs/StepTargetService) cmd_pose_srv (naoqi_msgs/CmdPoseService) stop_walk_srv (std_srvs/Empty) needs_start_walk_pose_srv (std_srvs/Empty) enable_arms_walking_srv (naoqi_msgs/SetArmsEnabled)

Parameters

~step_frequency (double, default: 0.5) ~use_walk_pose (boolean, default: False) ~enable_foot_contact_protection (boolean) ~use_foot_gait_config (boolean, default: False) ~foot_gait_config (ALValue/Tupel) ~init_stiffness (float)


2019-07-13 12:54