naoqi_driver package from naoqi_driver reponaoqi_driver |
|
Package Summary
Tags | No category tags. |
Version | 2.1.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-04-30 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Victor Paléologue
- Marine Chamoux
- Maxime Busy
- Surya Ambrose
- Karsten Knese
Authors
- Karsten Knese
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support the audio features, naoqi_driver opens a public endpoint, on a random port by default.
To avoid opening a public endpoint, you would need to disable the audio features by setting the
audio
argument tofalse
in boot_config.json, and then setqi_listen_url
to listen to a local endpoint, e.g.qi_listen_url:=tcp://127.0.0.1:12345
.
Installation
Dependencies
To run, the driver requires the naoqi_libqi
,
naoqi_libqicore
and naoqi_bridge_msgs
packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes
can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2
,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2
LICENSE,
nao_meshes2
LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE
and I_AGREE_TO_PEPPER_MESHES_LICENSE
environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive
)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
The driver can be launched from a remote machine this way:
source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:0
NAOqi 2.9 and higher
Username and password arguments are required for robots running NAOqi 2.9 or greater:
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password> qi_listen_url:=tcp://0.0.0.0:0
From a Docker container
If you run naoqi_driver from a Docker container with audio features enabled, you must specify the libQi endpoint with, e.g. for port 56000:
source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:56000
Then you must expose it from the container.
On the robot or on the same machine
If you run the driver directly from the robot (or your machine running a virtual robot), you can omit the options:
ros2 launch naoqi_driver naoqi_driver.launch.py
Check that the node is running correctly
Check that the driver is connected:
ros2 node info /naoqi_driver
Hello, world
Make the robot say hello:
ros2 topic pub --once /speech std_msgs/String "data: hello"
Listen to words
You can setup speech recognition and get one result.
ros2 action send_goal listen naoqi_bridge_msgs/action/Listen "expected: [\"hello\"]
language: \"en\""
Move the head
Check that you can move the head by publishing on /joint_angles
:
ros2 topic pub --once /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
You can see the published message with ros2 topic echo /joint_angles
Move around
Check that you can move the robot by publishing on cmd_vel
to make the robot move:
ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
x: 0.5
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.785"
Make some room around the robot!
To stop the robot, you must send a new message with linear and angular velocities set to 0:
ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
Development
Check how to install the driver from source,
or use docker compose
to get a more reproducible dev environment:
ROS_DISTRO=iron docker compose up dev --build
To get all logs in live and build debuggable binaries, you may build with this command:
colcon build --event-handlers console_direct+ --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug
It works also when running tests:
colcon test --event-handlers console_direct+ --ctest-args tests
Build Status
ROS Distro | Binary Status | Source Status | GitHub Status |
---|---|---|---|
Humble | |||
Iron |
Changelog for package naoqi_driver
2.1.1 (2023-12-05)
- Drop testing of [foxy]{.title-ref} and [galactic]{.title-ref}
- README: remove extraneous args in example
- Update code and instructions about Docker
- Fix build for humble
- Improve README about audio service
- Contributors: Victor Pal
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
Dependant Packages
Launch files
- launch/naoqi_driver.launch
-
- nao_ip [default: $(optenv NAO_IP)]
- nao_port [default: $(optenv NAO_PORT 9559)]
- roscore_ip [default: 127.0.0.1]
- network_interface [default: eth0]
- namespace [default: naoqi_driver]
Messages
Services
Plugins
Recent questions tagged naoqi_driver at Robotics Stack Exchange
naoqi_driver package from naoqi_driver reponaoqi_driver |
|
Package Summary
Tags | No category tags. |
Version | 2.1.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-04-30 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Victor Paléologue
- Marine Chamoux
- Maxime Busy
- Surya Ambrose
- Karsten Knese
Authors
- Karsten Knese
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support the audio features, naoqi_driver opens a public endpoint, on a random port by default.
To avoid opening a public endpoint, you would need to disable the audio features by setting the
audio
argument tofalse
in boot_config.json, and then setqi_listen_url
to listen to a local endpoint, e.g.qi_listen_url:=tcp://127.0.0.1:12345
.
Installation
Dependencies
To run, the driver requires the naoqi_libqi
,
naoqi_libqicore
and naoqi_bridge_msgs
packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes
can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2
,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2
LICENSE,
nao_meshes2
LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE
and I_AGREE_TO_PEPPER_MESHES_LICENSE
environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive
)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
The driver can be launched from a remote machine this way:
source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:0
NAOqi 2.9 and higher
Username and password arguments are required for robots running NAOqi 2.9 or greater:
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password> qi_listen_url:=tcp://0.0.0.0:0
From a Docker container
If you run naoqi_driver from a Docker container with audio features enabled, you must specify the libQi endpoint with, e.g. for port 56000:
source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:56000
Then you must expose it from the container.
On the robot or on the same machine
If you run the driver directly from the robot (or your machine running a virtual robot), you can omit the options:
ros2 launch naoqi_driver naoqi_driver.launch.py
Check that the node is running correctly
Check that the driver is connected:
ros2 node info /naoqi_driver
Hello, world
Make the robot say hello:
ros2 topic pub --once /speech std_msgs/String "data: hello"
Listen to words
You can setup speech recognition and get one result.
ros2 action send_goal listen naoqi_bridge_msgs/action/Listen "expected: [\"hello\"]
language: \"en\""
Move the head
Check that you can move the head by publishing on /joint_angles
:
ros2 topic pub --once /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
You can see the published message with ros2 topic echo /joint_angles
Move around
Check that you can move the robot by publishing on cmd_vel
to make the robot move:
ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
x: 0.5
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.785"
Make some room around the robot!
To stop the robot, you must send a new message with linear and angular velocities set to 0:
ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
Development
Check how to install the driver from source,
or use docker compose
to get a more reproducible dev environment:
ROS_DISTRO=iron docker compose up dev --build
To get all logs in live and build debuggable binaries, you may build with this command:
colcon build --event-handlers console_direct+ --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug
It works also when running tests:
colcon test --event-handlers console_direct+ --ctest-args tests
Build Status
ROS Distro | Binary Status | Source Status | GitHub Status |
---|---|---|---|
Humble | |||
Iron |
Changelog for package naoqi_driver
2.1.1 (2023-12-05)
- Drop testing of [foxy]{.title-ref} and [galactic]{.title-ref}
- README: remove extraneous args in example
- Update code and instructions about Docker
- Fix build for humble
- Improve README about audio service
- Contributors: Victor Pal
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
Dependant Packages
Launch files
- launch/naoqi_driver.launch
-
- nao_ip [default: $(optenv NAO_IP)]
- nao_port [default: $(optenv NAO_PORT 9559)]
- roscore_ip [default: 127.0.0.1]
- network_interface [default: eth0]
- namespace [default: naoqi_driver]
Messages
Services
Plugins
Recent questions tagged naoqi_driver at Robotics Stack Exchange
naoqi_driver package from naoqi_driver reponaoqi_driver |
|
Package Summary
Tags | No category tags. |
Version | 0.6.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-01-29 |
Dev Status | MAINTAINED |
CI status | Continuous Integration : 0 / 0 |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Marine Chamoux
- Maxime Busy
- Surya Ambrose
- Karsten Knese
Authors
- Karsten Knese
naoqi_driver
This module establishes a ROS bridge with NAOqi. It publishes several sensor data as well as the robot position.
It also enables ROS to call parts of the NAOqi API. It was tested with a pepper robot.
Installation
For noetic, on Ubuntu 20.04:
sudo apt install ros-noetic-naoqi-driver
Dependencies
To run, the driver requires the naoqi_libqi
, naoqi_libqicore
and naoqi_bridge_msgs
packages. Those can be installed using apt-get (if they have been released for your ROS distro) or from source. Additionally, pepper_meshes
and/or nao_meshes
can be useful if you try to display the robot in RViz.
How it works
The naoqi_driver module is a NAOqi module that also acts as a ROS node. Ros will automaticaly generate a roscore IP for the robot. Usually, you will start your roscore on your local desktop.
Once connected, normal ROS communication is happening between your robot, running NAOqi OS, and your desktop, running ROS.
Launch
Before launching, you may want to shutdown the autonomous life of the robot with the following process:
ssh nao@<naoip>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
The driver can be launched using the following command:
Be aware that username and password arguments are only required for robots running NAOqi 2.9 or greater.
source <catkin_ws>/devel/setup.bash
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> roscore_ip := <ip> network_interface:=<interface> username:=<name> password:=<passwd>
Warning: naoqi_driver
for melodic and greater have to be used for robots
running NAOqi 2.9 and greater.
Warning: If you have a connection refused error
such as this issue when using robots running NAOqi 2.8 and greater, please try to give nao_port:=9503
explicitly.
Check that the node is running correctly
Check that naoqi_driver is connected with :
rosnode info /naoqi_driver
Check that you can move the head by publishing on /joint_angles
:
rostopic pub /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {seq: 0, stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
You can see the published message with rostopic echo /joint_angles
Check that you can move the robot by publishing on cmd_vel to make the robot move:
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.8"
Build status
ROS Distro | Binary Status | Source Status | Github Build |
---|---|---|---|
Noetic | |||
Melodic | |||
Kinetic |
Further information
For further information, you can consult the documentation (OUTDATED) here or build it:
cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/
Changelog for package naoqi_driver
0.6.0 (2023-06-30)
- Support for Pepper running NAOqi 2.9 #157
- Audio is disabled for now
- Update README contents and presentation
- Contributors: Mouad Abrini, Th
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
liborocos-kdl-dev |
Dependant Packages
Launch files
- launch/naoqi_driver.launch
-
- nao_ip [default: $(optenv NAO_IP)]
- nao_port [default: $(optenv NAO_PORT 9559)]
- roscore_ip [default: 127.0.0.1]
- network_interface [default: eth0]
- namespace [default: naoqi_driver]
- user [default: nao]
- password [default: no_password]
Messages
Services
Plugins
Recent questions tagged naoqi_driver at Robotics Stack Exchange
naoqi_driver package from naoqi_driver reponaoqi_driver |
|
Package Summary
Tags | No category tags. |
Version | 2.1.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-04-30 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Victor Paléologue
- Marine Chamoux
- Maxime Busy
- Surya Ambrose
- Karsten Knese
Authors
- Karsten Knese
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support the audio features, naoqi_driver opens a public endpoint, on a random port by default.
To avoid opening a public endpoint, you would need to disable the audio features by setting the
audio
argument tofalse
in boot_config.json, and then setqi_listen_url
to listen to a local endpoint, e.g.qi_listen_url:=tcp://127.0.0.1:12345
.
Installation
Dependencies
To run, the driver requires the naoqi_libqi
,
naoqi_libqicore
and naoqi_bridge_msgs
packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes
can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2
,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2
LICENSE,
nao_meshes2
LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE
and I_AGREE_TO_PEPPER_MESHES_LICENSE
environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive
)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
The driver can be launched from a remote machine this way:
source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:0
NAOqi 2.9 and higher
Username and password arguments are required for robots running NAOqi 2.9 or greater:
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password> qi_listen_url:=tcp://0.0.0.0:0
From a Docker container
If you run naoqi_driver from a Docker container with audio features enabled, you must specify the libQi endpoint with, e.g. for port 56000:
source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:56000
Then you must expose it from the container.
On the robot or on the same machine
If you run the driver directly from the robot (or your machine running a virtual robot), you can omit the options:
ros2 launch naoqi_driver naoqi_driver.launch.py
Check that the node is running correctly
Check that the driver is connected:
ros2 node info /naoqi_driver
Hello, world
Make the robot say hello:
ros2 topic pub --once /speech std_msgs/String "data: hello"
Listen to words
You can setup speech recognition and get one result.
ros2 action send_goal listen naoqi_bridge_msgs/action/Listen "expected: [\"hello\"]
language: \"en\""
Move the head
Check that you can move the head by publishing on /joint_angles
:
ros2 topic pub --once /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
You can see the published message with ros2 topic echo /joint_angles
Move around
Check that you can move the robot by publishing on cmd_vel
to make the robot move:
ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
x: 0.5
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.785"
Make some room around the robot!
To stop the robot, you must send a new message with linear and angular velocities set to 0:
ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
Development
Check how to install the driver from source,
or use docker compose
to get a more reproducible dev environment:
ROS_DISTRO=iron docker compose up dev --build
To get all logs in live and build debuggable binaries, you may build with this command:
colcon build --event-handlers console_direct+ --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug
It works also when running tests:
colcon test --event-handlers console_direct+ --ctest-args tests
Build Status
ROS Distro | Binary Status | Source Status | GitHub Status |
---|---|---|---|
Humble | |||
Iron |
Changelog for package naoqi_driver
2.1.1 (2023-12-05)
- Drop testing of [foxy]{.title-ref} and [galactic]{.title-ref}
- README: remove extraneous args in example
- Update code and instructions about Docker
- Fix build for humble
- Improve README about audio service
- Contributors: Victor Pal
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
Dependant Packages
Launch files
- launch/naoqi_driver.launch
-
- nao_ip [default: $(optenv NAO_IP)]
- nao_port [default: $(optenv NAO_PORT 9559)]
- roscore_ip [default: 127.0.0.1]
- network_interface [default: eth0]
- namespace [default: naoqi_driver]
Messages
Services
Plugins
Recent questions tagged naoqi_driver at Robotics Stack Exchange
naoqi_driver package from naoqi_driver reponaoqi_driver |
|
Package Summary
Tags | No category tags. |
Version | 2.1.1 |
License | BSD |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-04-30 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Victor Paléologue
- Marine Chamoux
- Maxime Busy
- Surya Ambrose
- Karsten Knese
Authors
- Karsten Knese
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support the audio features, naoqi_driver opens a public endpoint, on a random port by default.
To avoid opening a public endpoint, you would need to disable the audio features by setting the
audio
argument tofalse
in boot_config.json, and then setqi_listen_url
to listen to a local endpoint, e.g.qi_listen_url:=tcp://127.0.0.1:12345
.
Installation
Dependencies
To run, the driver requires the naoqi_libqi
,
naoqi_libqicore
and naoqi_bridge_msgs
packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes
can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2
,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2
LICENSE,
nao_meshes2
LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE
and I_AGREE_TO_PEPPER_MESHES_LICENSE
environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive
)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
The driver can be launched from a remote machine this way:
source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:0
NAOqi 2.9 and higher
Username and password arguments are required for robots running NAOqi 2.9 or greater:
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password> qi_listen_url:=tcp://0.0.0.0:0
From a Docker container
If you run naoqi_driver from a Docker container with audio features enabled, you must specify the libQi endpoint with, e.g. for port 56000:
source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> qi_listen_url:=tcp://0.0.0.0:56000
Then you must expose it from the container.
On the robot or on the same machine
If you run the driver directly from the robot (or your machine running a virtual robot), you can omit the options:
ros2 launch naoqi_driver naoqi_driver.launch.py
Check that the node is running correctly
Check that the driver is connected:
ros2 node info /naoqi_driver
Hello, world
Make the robot say hello:
ros2 topic pub --once /speech std_msgs/String "data: hello"
Listen to words
You can setup speech recognition and get one result.
ros2 action send_goal listen naoqi_bridge_msgs/action/Listen "expected: [\"hello\"]
language: \"en\""
Move the head
Check that you can move the head by publishing on /joint_angles
:
ros2 topic pub --once /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
You can see the published message with ros2 topic echo /joint_angles
Move around
Check that you can move the robot by publishing on cmd_vel
to make the robot move:
ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
x: 0.5
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.785"
Make some room around the robot!
To stop the robot, you must send a new message with linear and angular velocities set to 0:
ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
x: 0.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0"
Development
Check how to install the driver from source,
or use docker compose
to get a more reproducible dev environment:
ROS_DISTRO=iron docker compose up dev --build
To get all logs in live and build debuggable binaries, you may build with this command:
colcon build --event-handlers console_direct+ --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug
It works also when running tests:
colcon test --event-handlers console_direct+ --ctest-args tests
Build Status
ROS Distro | Binary Status | Source Status | GitHub Status |
---|---|---|---|
Humble | |||
Iron |
Changelog for package naoqi_driver
2.1.1 (2023-12-05)
- Drop testing of [foxy]{.title-ref} and [galactic]{.title-ref}
- README: remove extraneous args in example
- Update code and instructions about Docker
- Fix build for humble
- Improve README about audio service
- Contributors: Victor Pal
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
Dependant Packages
Launch files
- launch/naoqi_driver.launch
-
- nao_ip [default: $(optenv NAO_IP)]
- nao_port [default: $(optenv NAO_PORT 9559)]
- roscore_ip [default: 127.0.0.1]
- network_interface [default: eth0]
- namespace [default: naoqi_driver]
Messages
Services
Plugins
Recent questions tagged naoqi_driver at Robotics Stack Exchange
naoqi_driver package from naoqi_driver reponaoqi_driver |
|
Package Summary
Tags | No category tags. |
Version | 0.6.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-01-29 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Marine Chamoux
- Maxime Busy
- Surya Ambrose
- Karsten Knese
Authors
- Karsten Knese
naoqi_driver
This module establishes a ROS bridge with NAOqi. It publishes several sensor data as well as the robot position.
It also enables ROS to call parts of the NAOqi API. It was tested with a pepper robot.
Installation
For noetic, on Ubuntu 20.04:
sudo apt install ros-noetic-naoqi-driver
Dependencies
To run, the driver requires the naoqi_libqi
, naoqi_libqicore
and naoqi_bridge_msgs
packages. Those can be installed using apt-get (if they have been released for your ROS distro) or from source. Additionally, pepper_meshes
and/or nao_meshes
can be useful if you try to display the robot in RViz.
How it works
The naoqi_driver module is a NAOqi module that also acts as a ROS node. Ros will automaticaly generate a roscore IP for the robot. Usually, you will start your roscore on your local desktop.
Once connected, normal ROS communication is happening between your robot, running NAOqi OS, and your desktop, running ROS.
Launch
Before launching, you may want to shutdown the autonomous life of the robot with the following process:
ssh nao@<naoip>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
The driver can be launched using the following command:
Be aware that username and password arguments are only required for robots running NAOqi 2.9 or greater.
source <catkin_ws>/devel/setup.bash
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> roscore_ip := <ip> network_interface:=<interface> username:=<name> password:=<passwd>
Warning: naoqi_driver
for melodic and greater have to be used for robots
running NAOqi 2.9 and greater.
Warning: If you have a connection refused error
such as this issue when using robots running NAOqi 2.8 and greater, please try to give nao_port:=9503
explicitly.
Check that the node is running correctly
Check that naoqi_driver is connected with :
rosnode info /naoqi_driver
Check that you can move the head by publishing on /joint_angles
:
rostopic pub /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {seq: 0, stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
You can see the published message with rostopic echo /joint_angles
Check that you can move the robot by publishing on cmd_vel to make the robot move:
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.8"
Build status
ROS Distro | Binary Status | Source Status | Github Build |
---|---|---|---|
Noetic | |||
Melodic | |||
Kinetic |
Further information
For further information, you can consult the documentation (OUTDATED) here or build it:
cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/
Changelog for package naoqi_driver
0.6.0 (2023-06-30)
- Support for Pepper running NAOqi 2.9 #157
- Audio is disabled for now
- Update README contents and presentation
- Contributors: Mouad Abrini, Th
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
liborocos-kdl-dev |
Launch files
- launch/naoqi_driver.launch
-
- nao_ip [default: $(optenv NAO_IP)]
- nao_port [default: $(optenv NAO_PORT 9559)]
- roscore_ip [default: 127.0.0.1]
- network_interface [default: eth0]
- namespace [default: naoqi_driver]
- user [default: nao]
- password [default: no_password]
Messages
Services
Plugins
Recent questions tagged naoqi_driver at Robotics Stack Exchange
naoqi_driver package from naoqi_driver reponaoqi_driver |
|
Package Summary
Tags | No category tags. |
Version | 0.6.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-01-29 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Marine Chamoux
- Maxime Busy
- Surya Ambrose
- Karsten Knese
Authors
- Karsten Knese
naoqi_driver
This module establishes a ROS bridge with NAOqi. It publishes several sensor data as well as the robot position.
It also enables ROS to call parts of the NAOqi API. It was tested with a pepper robot.
Installation
For noetic, on Ubuntu 20.04:
sudo apt install ros-noetic-naoqi-driver
Dependencies
To run, the driver requires the naoqi_libqi
, naoqi_libqicore
and naoqi_bridge_msgs
packages. Those can be installed using apt-get (if they have been released for your ROS distro) or from source. Additionally, pepper_meshes
and/or nao_meshes
can be useful if you try to display the robot in RViz.
How it works
The naoqi_driver module is a NAOqi module that also acts as a ROS node. Ros will automaticaly generate a roscore IP for the robot. Usually, you will start your roscore on your local desktop.
Once connected, normal ROS communication is happening between your robot, running NAOqi OS, and your desktop, running ROS.
Launch
Before launching, you may want to shutdown the autonomous life of the robot with the following process:
ssh nao@<naoip>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
The driver can be launched using the following command:
Be aware that username and password arguments are only required for robots running NAOqi 2.9 or greater.
source <catkin_ws>/devel/setup.bash
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> roscore_ip := <ip> network_interface:=<interface> username:=<name> password:=<passwd>
Warning: naoqi_driver
for melodic and greater have to be used for robots
running NAOqi 2.9 and greater.
Warning: If you have a connection refused error
such as this issue when using robots running NAOqi 2.8 and greater, please try to give nao_port:=9503
explicitly.
Check that the node is running correctly
Check that naoqi_driver is connected with :
rosnode info /naoqi_driver
Check that you can move the head by publishing on /joint_angles
:
rostopic pub /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {seq: 0, stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
You can see the published message with rostopic echo /joint_angles
Check that you can move the robot by publishing on cmd_vel to make the robot move:
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.8"
Build status
ROS Distro | Binary Status | Source Status | Github Build |
---|---|---|---|
Noetic | |||
Melodic | |||
Kinetic |
Further information
For further information, you can consult the documentation (OUTDATED) here or build it:
cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/
Changelog for package naoqi_driver
0.6.0 (2023-06-30)
- Support for Pepper running NAOqi 2.9 #157
- Audio is disabled for now
- Update README contents and presentation
- Contributors: Mouad Abrini, Th
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
liborocos-kdl-dev |
Launch files
- launch/naoqi_driver.launch
-
- nao_ip [default: $(optenv NAO_IP)]
- nao_port [default: $(optenv NAO_PORT 9559)]
- roscore_ip [default: 127.0.0.1]
- network_interface [default: eth0]
- namespace [default: naoqi_driver]
- user [default: nao]
- password [default: no_password]
Messages
Services
Plugins
Recent questions tagged naoqi_driver at Robotics Stack Exchange
naoqi_driver package from naoqi_driver reponaoqi_driver |
|
Package Summary
Tags | No category tags. |
Version | 0.6.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-01-29 |
Dev Status | MAINTAINED |
CI status | Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Marine Chamoux
- Maxime Busy
- Surya Ambrose
- Karsten Knese
Authors
- Karsten Knese
naoqi_driver
This module establishes a ROS bridge with NAOqi. It publishes several sensor data as well as the robot position.
It also enables ROS to call parts of the NAOqi API. It was tested with a pepper robot.
Installation
For noetic, on Ubuntu 20.04:
sudo apt install ros-noetic-naoqi-driver
Dependencies
To run, the driver requires the naoqi_libqi
, naoqi_libqicore
and naoqi_bridge_msgs
packages. Those can be installed using apt-get (if they have been released for your ROS distro) or from source. Additionally, pepper_meshes
and/or nao_meshes
can be useful if you try to display the robot in RViz.
How it works
The naoqi_driver module is a NAOqi module that also acts as a ROS node. Ros will automaticaly generate a roscore IP for the robot. Usually, you will start your roscore on your local desktop.
Once connected, normal ROS communication is happening between your robot, running NAOqi OS, and your desktop, running ROS.
Launch
Before launching, you may want to shutdown the autonomous life of the robot with the following process:
ssh nao@<naoip>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
The driver can be launched using the following command:
Be aware that username and password arguments are only required for robots running NAOqi 2.9 or greater.
source <catkin_ws>/devel/setup.bash
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> roscore_ip := <ip> network_interface:=<interface> username:=<name> password:=<passwd>
Warning: naoqi_driver
for melodic and greater have to be used for robots
running NAOqi 2.9 and greater.
Warning: If you have a connection refused error
such as this issue when using robots running NAOqi 2.8 and greater, please try to give nao_port:=9503
explicitly.
Check that the node is running correctly
Check that naoqi_driver is connected with :
rosnode info /naoqi_driver
Check that you can move the head by publishing on /joint_angles
:
rostopic pub /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {seq: 0, stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
You can see the published message with rostopic echo /joint_angles
Check that you can move the robot by publishing on cmd_vel to make the robot move:
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.8"
Build status
ROS Distro | Binary Status | Source Status | Github Build |
---|---|---|---|
Noetic | |||
Melodic | |||
Kinetic |
Further information
For further information, you can consult the documentation (OUTDATED) here or build it:
cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/
Changelog for package naoqi_driver
0.6.0 (2023-06-30)
- Support for Pepper running NAOqi 2.9 #157
- Audio is disabled for now
- Update README contents and presentation
- Contributors: Mouad Abrini, Th
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
liborocos-kdl-dev |
Launch files
- launch/naoqi_driver.launch
-
- nao_ip [default: $(optenv NAO_IP)]
- nao_port [default: $(optenv NAO_PORT 9559)]
- roscore_ip [default: 127.0.0.1]
- network_interface [default: eth0]
- namespace [default: naoqi_driver]
- user [default: nao]
- password [default: no_password]
Messages
Services
Plugins
Recent questions tagged naoqi_driver at Robotics Stack Exchange
naoqi_driver package from naoqi_driver reponaoqi_driver |
|
Package Summary
Tags | No category tags. |
Version | 0.6.0 |
License | BSD |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2024-01-29 |
Dev Status | MAINTAINED |
CI status | Continuous Integration : 0 / 0 |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Marine Chamoux
- Maxime Busy
- Surya Ambrose
- Karsten Knese
Authors
- Karsten Knese
naoqi_driver
This module establishes a ROS bridge with NAOqi. It publishes several sensor data as well as the robot position.
It also enables ROS to call parts of the NAOqi API. It was tested with a pepper robot.
Installation
For noetic, on Ubuntu 20.04:
sudo apt install ros-noetic-naoqi-driver
Dependencies
To run, the driver requires the naoqi_libqi
, naoqi_libqicore
and naoqi_bridge_msgs
packages. Those can be installed using apt-get (if they have been released for your ROS distro) or from source. Additionally, pepper_meshes
and/or nao_meshes
can be useful if you try to display the robot in RViz.
How it works
The naoqi_driver module is a NAOqi module that also acts as a ROS node. Ros will automaticaly generate a roscore IP for the robot. Usually, you will start your roscore on your local desktop.
Once connected, normal ROS communication is happening between your robot, running NAOqi OS, and your desktop, running ROS.
Launch
Before launching, you may want to shutdown the autonomous life of the robot with the following process:
ssh nao@<naoip>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
The driver can be launched using the following command:
Be aware that username and password arguments are only required for robots running NAOqi 2.9 or greater.
source <catkin_ws>/devel/setup.bash
roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> roscore_ip := <ip> network_interface:=<interface> username:=<name> password:=<passwd>
Warning: naoqi_driver
for melodic and greater have to be used for robots
running NAOqi 2.9 and greater.
Warning: If you have a connection refused error
such as this issue when using robots running NAOqi 2.8 and greater, please try to give nao_port:=9503
explicitly.
Check that the node is running correctly
Check that naoqi_driver is connected with :
rosnode info /naoqi_driver
Check that you can move the head by publishing on /joint_angles
:
rostopic pub /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {seq: 0, stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"
You can see the published message with rostopic echo /joint_angles
Check that you can move the robot by publishing on cmd_vel to make the robot move:
rostopic pub /cmd_vel geometry_msgs/Twist "linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.8"
Build status
ROS Distro | Binary Status | Source Status | Github Build |
---|---|---|---|
Noetic | |||
Melodic | |||
Kinetic |
Further information
For further information, you can consult the documentation (OUTDATED) here or build it:
cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/
Changelog for package naoqi_driver
0.6.0 (2023-06-30)
- Support for Pepper running NAOqi 2.9 #157
- Audio is disabled for now
- Update README contents and presentation
- Contributors: Mouad Abrini, Th
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Name |
---|
boost |
liborocos-kdl-dev |
Dependant Packages
Launch files
- launch/naoqi_driver.launch
-
- nao_ip [default: $(optenv NAO_IP)]
- nao_port [default: $(optenv NAO_PORT 9559)]
- roscore_ip [default: 127.0.0.1]
- network_interface [default: eth0]
- namespace [default: naoqi_driver]
- user [default: nao]
- password [default: no_password]