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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.

~poses (list)

• 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

joint_trajectory/goal (naoqi_msgs/JointTrajectoryGoal)

• Send joint trajectory goal

joint_stiffness_trajectory/goal (naoqi_msgs/JointTrajectoryGoal)

• Send stiffness trajectory goal

body_pose_naoqi/goal (naoqi_msgs/BodyPoseWithSpeedGoal)

• 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

joint_stiffness (sensor_msgs/JointState)

• Set the stiffness for individual joints

Services

body_stiffness/disable (std_srvs/Empty)

• Turn off all motors. Be careful as the robot might fall.

body_stiffness/enable (std_srvs/Empty)

• Turn on all motors.

rest (std_srvs/Empty)

• Put the robot in a safe pose and turn off the motors.

wakeup (std_srvs/Empty)

• 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)

~init_stiffness (, default: 0.0)

• 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