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nao_robot: nao_bringup | nao_description | nao_driver | nao_msgs | nao_pose

Package Summary

This package contains nodes for managing Nao's poses.

nao_robot: nao_apps | nao_bringup | nao_description

Package Summary

This package contains nodes for managing Nao's poses.

nao_robot: nao_apps | nao_bringup | nao_description

Package Summary

This package contains nodes for managing Nao's poses.

Package Summary

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

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)

Actions Called

joint_trajectory (naoqi_msgs/JointTrajectory)

Parameters

~xap (string) ~poses (list)

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) joint_trajectory/goal (naoqi_msgs/JointTrajectoryGoal) joint_stiffness_trajectory/goal (naoqi_msgs/JointTrajectoryGoal) body_pose_naoqi/goal (naoqi_msgs/BodyPoseWithSpeedGoal)

Subscribed Topics

joint_angles (naoqi_msgs/JointAnglesWithSpeed) joint_stiffness (sensor_msgs/JointState)

Services

body_stiffness/disable (std_srvs/Empty) body_stiffness/enable (std_srvs/Empty) rest (std_srvs/Empty) wakeup (std_srvs/Empty)

Parameters

~poll_rate (float, default: 0.2) ~init_stiffness (, default: 0.0)


2019-09-21 12:54