Only released in EOL distros:
nao_robot: nao_bringup | nao_description | nao_driver | nao_msgs | nao_pose
Package Summary
Released
Documented
This package contains nodes for managing Nao's poses.
- Maintainer status: developed
- Maintainer: Séverin Lemaignan <severin.lemaignan AT epfl DOT ch>
- Author: Armin Hornung, Séverin Lemaignan
- License: BSD
- Bug / feature tracker: https://github.com/ros-nao/nao_robot/issues
- Source: git https://github.com/ros-nao/nao_robot.git (branch: master)
nao_robot: nao_apps | nao_bringup | nao_description
Package Summary
Released
Documented
This package contains nodes for managing Nao's poses.
- Maintainer status: developed
- Maintainer: Séverin Lemaignan <severin.lemaignan AT epfl DOT ch>
- Author: Armin Hornung, Séverin Lemaignan
- License: BSD
- Bug / feature tracker: https://github.com/ros-nao/nao_robot/issues
- Source: git https://github.com/ros-naoqi/nao_robot.git (branch: master)
nao_robot: nao_apps | nao_bringup | nao_description
Package Summary
Released
Documented
This package contains nodes for managing Nao's poses.
- Maintainer status: developed
- Maintainer: Séverin Lemaignan <severin.lemaignan AT epfl DOT ch>
- Author: Armin Hornung, Séverin Lemaignan
- License: BSD
- Bug / feature tracker: https://github.com/ros-nao/nao_robot/issues
- Source: git https://github.com/ros-naoqi/nao_robot.git (branch: master)
Package Summary
Released
No API documentation
This package contains nodes for managing Nao's poses.
- Maintainer: Séverin Lemaignan <severin.lemaignan AT epfl DOT ch>
- Author: Armin Hornung, Séverin Lemaignan
- License: BSD
Contents
Nodes
pose_manager
The pose manager maintains a library of poses so that clients can move the robot to a given pose by sending the name of the pose as an action goal.Action Goal
body_pose (naoqi_msgs/BodyPose)- Goal containing the name of the pose as a string.
Actions Called
joint_trajectory (naoqi_msgs/JointTrajectory)- Sends the trajectory corresponding to the desired pose to the pose controller
Parameters
~xap (string)- File path for the file containing the pose library.
- Array containing additional poses.
pose_controller
Provides action servers for controlling the robot's joints by sending joint angles, joint trajectories, or stiffness values.Action Goal
joint_angles_action/goal (naoqi_msgs/JointAnglesWithSpeedGoal)- Send joint angles goal
- Send joint trajectory goal
- Send stiffness trajectory goal
- Send body pose goal. This action server is only available if a ALRobotPosture proxy is available.
Subscribed Topics
joint_angles (naoqi_msgs/JointAnglesWithSpeed)- Interpolate the joint angles to the given pose
- Set the stiffness for individual joints
Services
body_stiffness/disable (std_srvs/Empty)- Turn off all motors. Be careful as the robot might fall.
- Turn on all motors.
- Put the robot in a safe pose and turn off the motors.
- Turn on the motors and go to an initial position.
Parameters
~poll_rate (float, default: 0.2)- Get poll rate for actionlib (ie. how often to check whether currently running task has been preempted)
- initial stiffness (defaults to 0 so it doesn't strain the robot when no teleoperation is running), set to 1.0 if you want to control the robot immediately
