Only released in EOL distros:   indigo jade kinetic

DCM Bringup for Nao robot

The package contains launch and configuration files required to bring the robot's DCM Driver up and start the robot controllers. The package allows to control a robot from ROS, while communicating with Naoqi. You can control the robot either by calling DCM commands or ALMotion (by default).

Installation

• install dependencies

sudo apt-get install ros-indigo-nao-robot ros-indigo-nao-meshes ros-indigo-nao-control

• go to a workspace/src

• clone naoqi_dcm_driver

• clone nao_dcm_bringup

• optionally, clone nao_moveit_config

• compile all packages with

catkin_make

How to use it

• first, wake up your robot and choose a stable pose

Trajectory control

• start the DCM Bringup providing the robot's IP

roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch robot_ip:=<ROBOT_IP>

• you can launch MoveIt! (if installed previously) and control your robot (arms by default)

roslaunch nao_moveit_config moveit_planner.launch

• you need to check "Allow approximate IK solutions", and then you can control the planning_group via an interactive marker

Position control

To command joints positions via ROS:

• start the DCM bringup proving your robot's IP (be aware that the package will stop Autonomous Life on your robot):

roslaunch nao_dcm_bringup nao_dcm_H25_bringup_position.launch robot_ip:=<ROBOT_IP>

• send a position to the desired controller, for example

rostopic pub /nao_dcm/LWristYaw_position_controller/command std_msgs/Float64 "data: 0"