Only released in EOL distros:

nao_robot: nao_bringup | nao_description | nao_driver | nao_msgs | nao_pose

Package Links

Dependencies (9)
Used by (2)

Package Summary

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 Links

Dependencies (9)
Used by (3)

Package Summary

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 Links

Dependencies (9)
Used by (3)

Package Summary

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 Links

Dependencies (9)

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

Contents

Nodes
1. pose_manager
2. pose_controller

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