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Package Summary

Bring-up the nao_dcm driver to connect to Aldebaran's Nao robot (v4).

Package Summary

Bring-up the nao_dcm driver to connect to Aldebaran's Nao robot (v4).

Package Summary

Bring-up the nao_dcm driver to connect to Aldebaran's Nao robot (v4).

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

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

catkin_make

How to use it

Trajectory control

roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch robot_ip:=<ROBOT_IP>

roslaunch nao_moveit_config moveit_planner.launch

Position control

To command joints positions via ROS:

roslaunch nao_dcm_bringup nao_dcm_H25_bringup_position.launch robot_ip:=<ROBOT_IP>

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


2019-12-07 12:51