search

ros-naoqi / naoqi_driver

c++ bridge based on libqi
Apache License 2.0
51 stars 93 forks source link

suggestion: adding /cmd_pose topic to naoqi_driver.launch #45

Closed kochigami closed 8 years ago

kochigami commented 8 years ago

When I executed roslaunch pepper_bringup pepper_full.launch, I found /cmd_vel topic, but I couldn't find /cmd_pose. I would like to have also /cmd_pose in naoqi_driver.launch. Could you tell me what do you think?

In nao_walker.py in nao_robot/nao_apps/nodes (https://github.com/ros-naoqi/nao_robot/blob/master/nao_apps/nodes/nao_walker.py#L93), both topics are prepared. There is one pull-request for pepper walking-related function, and it uses both topics. ([nao_robot package] add launch/nao_wheel.launch nodes/nao_wheel.py #13 )(https://github.com/ros-naoqi/nao_robot/pull/13)

k-okada commented 8 years ago

I think you can use mobe_base_simple/goal of https://github.com/ros-naoqi/naoqi_driver/blob/master/src/naoqi_driver.cpp#L789 instead of cmd_pose