how can I get touch sensor topic

[k-okada]

It seems the pepper robot has multiple touch sensors on head and arms, how can we get this as ros topic?

[kochigami]

I could understand how ALTouch proxy deals with touch related topics, but I couldn't know how to add codes to new naoqi_driver.

Touch data are published as events in NAOqi. ALMemoryProxy::subscribeToEvent(event name, callbackModule, callback Method(= callback function)) starts raising event. ALMemoryProxy::unsubscribeToEvent(event name, callbackModule) stops rasing event.

When event is subscribed, sensor data are stored and topic is published in callback function. Unfortunately, I haven't found these functions in codes yet...

Useful event names:

Bumpers:
RightBumperPressed
LeftBumperPressed
BackBumperPressed (it is not described in documentation, but I could use it before)

Head Sensors:
FrontTactilTouched
MiddleTactileTouched
RearTactileTouched

Hand Sensors:
HandRightBackTouched
HandRightLeftTouched
HandRightRightTouched
HandLeftBackTouched
HandRightLeftTouched
HandRightRightTouched

In addition, I think some msgs in naoqi_bridge_msgs are required to modify or create:

1. Bumper.msg -> add back=2 (for Pepper)
2. add HandTouch.msg

Referenced documentation: NAOqi 2.3 documentation ALTouch, python code nao_apps/nodes/nao_tactile.py

[k-okada]

I'm working on this issue at https://github.com/ros-naoqi/naoqi_driver/pull/48, but unfortunatelly I have trouble reading data....

[suryaambrose]

I think this has been partially solved by https://github.com/ros-naoqi/naoqi_driver/pull/49 and is about to be totally solved by https://github.com/ros-naoqi/naoqi_driver/pull/63 right ?

[victorpaleologue]

I think we're good.