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ros-naoqi / nao_virtual

all tools to simulate nao robot
Apache License 2.0
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Tutorials for control of NAO robot? #14

Open pourya-shahverdi opened 8 years ago

pourya-shahverdi commented 8 years ago

Hi dear developers :) I'm new user of ROS...

Is there any tutorial for simulating of NAO in gazebo and control of that using nao_virtual package? I make this package successfully, but I don't know how to use this?

Regards :)

mikaelarguedas commented 8 years ago

Hi,

Thanks for your interest in ROS and Aldebaran robots!

I think a good starting point would be the README of the nao_gazebo_plugin package https://github.com/ros-naoqi/nao_virtual/blob/master/nao_gazebo_plugin/README.rst . Please note that this package is currently under reformatting and is not necessarly working as well as it could. you may see several updates of the code/launchfiles in the next few weeks. If you follow this readme you should be able to spawn a nao robot on a robocup soccer field; display the sensor data in Rviz. and move the robot using rqt_joint_trajector_controller. The moveit part and robot state publication seems to have a few bugs for the moment as well as the controllers which result in the robot drifting on the ground.

Hope this helps,

On Thu, Jan 21, 2016 at 2:30 AM, Pourya notifications@github.com wrote:

Hi dear developers :) I'm new user of ROS

Is there any tutorial for simulating of NAO in gazebo and control of that using nao_virtual package? I make this package successfully, but I don't know how to use this?

Regards :)

— Reply to this email directly or view it on GitHub https://github.com/ros-naoqi/nao_virtual/issues/14.

pourya-shahverdi commented 8 years ago

@keulYSMB Thanks for your response :+1: :)

I have made these packages and these are working properly as you suggested. But I don't know how to control the robot motions by cpp SDK and simulate motion in gazebo... Please help me. I want to make an imitation project using kinect and nao robot as the first step of my master thesis. I have run kinect skeleton tracker package. I'm trying to write a cpp code for linking the skeleton to nao motions.

Many thanks before :)

pourya-shahverdi commented 8 years ago

I can run nao_gazebo_plugin successfully, but I can't find gazebo ip address in connection of Choregraphe! I want to make my simulations in the gazebo.

mikaelarguedas commented 8 years ago

Hi Pourya,

Sorry I did not get that your goal was to use Choregraphe. Actually the gazebo to choregraphe plugin hasn't been developped yet. There is an initiative here https://github.com/costashatz/nao_gazebo, I haven't tried it myselbf but the developper posted some very promising videos so it's definitely worth a shot. This thread https://groups.google.com/forum/?utm_medium=email&utm_source=footer#!msg/ros-sig-aldebaran/UPevkrtzeN4/QrWSefxfPO8J may help you too.

Otherwise you can try to develop your own gazebo to naoqiSDK plugin using this interface http://fileadmin.cs.lth.se/robot/nao/doc/ref/simulator_sdk.html. But this will definitely require a lot more work.

Good luck with your project !

On Thu, Jan 21, 2016 at 8:46 AM, Pourya notifications@github.com wrote:

I can run nao_gazebo_plugin successfully, but I can't find gazebo ip address in connection of Choregraphe! I want to make my simulations in the gazebo.

— Reply to this email directly or view it on GitHub https://github.com/ros-naoqi/nao_virtual/issues/14#issuecomment-173630394 .

sayali-purdue commented 6 years ago

@mikaelarguedas As stated in your answer, dated Jan 2016, robot drifts on the ground due to controller issues. I was wondering if this has been fixed sometime after this answer on Github (i.e. after 2016).

I followed the instructions from the readme page of nao_gazebo_plugin (on ROS indigo). The simulation starts in a paused mode and on play, the robot keeps drifting backwards in a circular path.

Sorry, I am new to ROS and robotics in general. Could you please help me in fixing the simulation on ROS indigo with Gazebo 2...? Many of the discussions here talk about the issues on ROS kinetic. So, I am not sure if those issues are applicable to indigo version too?

Thanks in advance.