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Only released in EOL distros:  

nao_common: nao_description | nao_remote | nao_teleop

Package Summary

Remote control package for the Nao robot. Provides a node for Nao joystick teleoperation and odometry remapping into ROS format. The motion commands should be sent to a nao_driver node, which in turn sends back robot state and odometry.

nao_common: nao_description | nao_remote | nao_teleop

Package Summary

Remote control package for the Nao robot. Provides a node for Nao joystick teleoperation and odometry remapping into ROS format. The motion commands should be sent to a nao_driver node, which in turn sends back robot state and odometry.

nao_extras: nao_path_follower | nao_teleop

Package Summary

Remote control package for the Nao robot. Provides a node for Nao joystick teleoperation and odometry remapping into ROS format. The motion commands should be sent to a nao_driver node, which in turn sends back robot state and odometry.

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) torso_imu (nao_ctrl/TorsoIMU)

Published Topics

odom (nav_msgs/Odometry)

Parameters

~odom_frame_id (String, default: odom) ~base_frame_id (String, default: base_link) ~use_imu_angles (bool, default: false) ~init_from_imu (bool, default: false) ~init_from_odometry (bool, default: false) ~imu_topic (String, default: torso_imu)

Required tf Transforms

base_link{L,R}Foot_link

Provided tf Transforms

odombase_link base_linkbase_footprint

pose_manager

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


2019-10-12 12:51