nao_dcm_robot

DCM stack integrating tools to control NAO robot

Installation

• install dependencies

  sudo apt-get install ros-indigo-nao-robot ros-indigo-nao-meshes ros-indigo-nao-control ros-indigo-naoqi-dcm-driver

• then, install nao_dcm_bringup or compile it from source

  sudo apt-get install ros-indigo-nao-dcm-bringup

• optionally, install nao_moveit_config

  sudo apt-get install ros-indigo-nao-moveit-config

How to use it

Trajectory control

To command your robot remotely with ros control :

• first, wake up your robot and choose a stable pose

• start the DCM Bringup providing the robot's IP

  roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch robot_ip:=<ROBOT_IP>

• you can control the robot using Moveit! (if installed previously)

  roslaunch nao_moveit_config moveit_planner.launch

• or you can send a trajectory to the desired controller (actionlib)

  rosrun actionlib axclient.py <name of the goal topic of the action server>

example:

    rosrun actionlib axclient.py /nao_dcm/LeftArm_controller/follow_joint_trajectory/goal

To choose the controllers you want to load at launchtime you have to modify nao_control/launch/nao_control_trajectory.launch To know the list of controllers implemented please refer to : nao_control/config/nao_trajectory_control.yaml You can start and stop the ros-controllers using the rqt plugin ControllerManager

Position control

To command joints positions via ROS:

• start the DCM bringup proving your robot's IP (be aware that the package will stop Autonomous Life on your robot):

  roslaunch nao_dcm_bringup nao_dcm_H25_bringup_position.launch robot_ip:=<ROBOT_IP>

• send a position to the desired controller, for example

  rostopic pub /nao_dcm/LWristYaw_position_controller/command std_msgs/Float64 "data: 0"