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nao_extras: nao_path_follower | nao_teleop

Package Summary

Enables a Nao humanoid to either walk to a target location (with localization feedback), or follow a planned 2D path closely. Sends nao_msgs to the nao_walker node in nao_driver.

nao_extras: nao_path_follower | nao_teleop

Package Summary

Enables a Nao humanoid to either walk to a target location (with localization feedback), or follow a planned 2D path closely. Sends naoqi_msgs to the nao_walker node in nao_apps.

nao_extras: nao_path_follower | nao_teleop

Package Summary

Enables a Nao humanoid to either walk to a target location (with localization feedback), or follow a planned 2D path closely. Sends naoqi_msgs to the nao_walker node in nao_apps.

nao_extras: nao_path_follower | nao_teleop

Package Summary

Enables a Nao humanoid to either walk to a target location (with localization feedback), or follow a planned 2D path closely. Sends naoqi_msgs to the nao_walker node in nao_apps.

Node API

nao_path_follower

Make Nao follow a given trajectory.

Subscribed Topics

foot_contact (std_msgs/Bool)

Published Topics

cmd_pose (geometry_msgs/Pose2D) cmd_vel (geometry_msgs/Twist) nao_path_follower/target_pose (geometry_msgs/PoseStamped) walk_path/goal (naoqi_msgs/FollowPathActionGoal) walk_target/goal (move_base_msgs/MoveBaseActionGoal)

Parameters

base_frame_id (string, default: base_footprint) controller_frequency (float, default: 10.0) target_distance_threshold (float, default: 0.05) target_angle_threshold (float, default: rad(5 degrees)) waypoint_distance_threshold (float, default: 0.05) waypoint_angle_threshold (float, default: rad(45 degrees)) max_vel_x (float, default: 0.7) max_vel_y (float, default: 0.7) max_vel_yaw (float, default: 0.7) step_freq (float, default: 0.5) use_vel_ctrl (boolean, default: False) use_foot_contact_protection (boolean, default: True) path_next_target_distance (float, default: 0.1) path_max_start_distance (float, default: 0.1) threshold_damp_xy (float, default: 0.2) threshold_damp_yaw (float, default: rad(60 degrees))


2019-11-30 12:59