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|
|
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-12-11 |
| Dev Status | DEVELOPED |
| 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
The jsk_nao_startup package
Additional Links
No additional links.
Maintainers
- Kei Okada
Authors
No additional authors.
jsk_nao_startup
What's this?
contains JSK's launch file for startup NAO with ROS
Running startup program
rossetip
roslaunch jsk_nao_startup jsk_nao_startup.launch network_interface:=<your network interaface (ex. eth0, enp0s31f6...)>
% For network_interface variable, please check ifconfig for the interface name your PC uses.
Nodes, topics and services
These are a list of nodes and some useful topics and services from jsk_nao_startup.launch.
nao_robot kochigami-develop branch is used to draw this figure.
Main modification is set namespace to nao_full.launch like pepper_full.launch.
NAO robot
Publications:
* /joint_states [sensor_msgs/JointState]
* /nao_robot/audio [naoqi_bridge_msgs/AudioBuffer]
* /nao_robot/bumper [naoqi_bridge_msgs/Bumper]
* /nao_robot/camera/bottom/camera_info [sensor_msgs/CameraInfo]
* /nao_robot/camera/bottom/image_raw [sensor_msgs/Image]
* /nao_robot/camera/front/camera_info [sensor_msgs/CameraInfo]
* /nao_robot/camera/front/image_raw [sensor_msgs/Image]
* /nao_robot/chest_touch [naoqi_bridge_msgs/ChestButtonPressed]
* /nao_robot/hand_touch [naoqi_bridge_msgs/HandTouch]
* /nao_robot/head_touch [naoqi_bridge_msgs/HeadTouch]
* /nao_robot/imu/base [sensor_msgs/Imu]
* /nao_robot/imu/torso [sensor_msgs/Imu]
* /nao_robot/info [naoqi_bridge_msgs/StringStamped]
* /nao_robot/laser [sensor_msgs/LaserScan]
* /nao_robot/odom [nav_msgs/Odometry]
* /nao_robot/sonar/back [sensor_msgs/Range]
* /nao_robot/sonar/front [sensor_msgs/Range]
* /tf [tf2_msgs/TFMessage]
Subscriptions:
* /cmd_vel [geometry_msgs/Twist]
* /joint_angles [naoqi_bridge_msgs/JointAnglesWithSpeed]
* /move_base_simple/goal [geometry_msgs/PoseStamped]
* /speech [std_msgs/String]
Services:
* /naoqi_driver/fade_leds
* /naoqi_driver/get_language
* /naoqi_driver/get_robot_config
* /naoqi_driver/get_volume
* /naoqi_driver/play_audio_file
* /naoqi_driver/reset_leds
* /naoqi_driver/set_language
* /naoqi_driver/set_volume
NAO's pose control
Publications:
* /nao_robot/pose/get_life_state [std_msgs/String]
Action:
* /nao_robot/pose/joint_trajectory [naoqi_bridge_msgs/JointTrajectoryAction]
Services:
* /nao_robot/pose/life/disable
* /nao_robot/pose/life/enable
* /nao_robot/pose/life/get_state
* /nao_robot/pose/rest
* /nao_robot/pose/wakeup
Joystick
| Button | Function |
|---|---|
| 1 | Servo on/off |
| 2 | Interactive Life |
| 3 | Disable Life |
| 4+5 | Move head-p, head-y |
| 6+7 | Teleop Twist |
| 6+7+8 | Teleop Twist Turbo |
Related nodes: /joy_client, joy_node, /teleop_twist_joy
Dashboard
Related nodes: /naoqi_dashboard, /naoqi_dashboard_aggregator, /tf_monitor
ros_speech_recognition
When you want to use ros_speech_recognition with NAO microphone, please set launch_ros_sppech_recognition "true"
You can change audio_org(default="/nao_robot/naoqi_driver/audio"), depth, sample_rate(please ssh your robot and check by "pactl list short sinks"), engine(default="Google"), language(default="ja-JP"), dynamic_energy_threshold and energy_threshold.
Example of usage
roslaunch jsk_nao_startup jsk_nao_startup.launch network_interface:=enp4s0 launch_ros_speech_recognition:=true audio_org:=/nao_robot/naoqi_driver/audio
CHANGELOG
Changelog for package jsk_nao_startup
1.1.0 (2017-07-16)
1.0.9 (2016-11-09)
1.0.8 (2016-11-08)
1.0.7 (2016-11-02)
- [jsk_nao_startup] same as #675
- add nao_bringup to run depend
- [jsk_naoqi_robot] speak when program is started (by unix:sleep) or terminated (by overriden roseus-sigint-handler)
- Contributors: Kanae Kochigami
1.0.6 (2016-06-17)
1.0.5 (2016-04-18)
- add params for new naoqi_driver.launch
- Contributors: Kanae Kochigami
1.0.4 (2016-03-21)
1.0.3 (2016-03-05)
1.0.2 (2016-02-14)
1.0.1 (2015-11-19)
- move jsk_nao_startup under jsk_naoqi_robot
1.0.0 (2015-11-06)
0.0.13 (2015-11-06)
0.0.12 (2015-11-06)
0.0.11 (2015-09-01)
0.0.10 (2015-08-16)
- jsk_nao_startup/CMakeLists.txt : remove naoqi_driver from find_package
- Contributors: Kei Okada
0.0.9 (2015-08-03)
0.0.8 (2015-07-16)
0.0.7 (2015-06-11)
- change name of nao_speech.launch to speech.launch
- Contributors: Kanae Kochigami
0.0.6 (2015-04-10)
0.0.5 (2015-04-08)
0.0.4 (2015-01-30)
0.0.3 (2015-01-09)
0.0.2 (2015-01-08)
0.0.1 (2014-12-25)
- nao_vision and audio launch added
- update nao_driver -> naoqi_driver
- add jsk_nao_startup
- Contributors: Yuki Furuta, Kanae Kochigami
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 2 | naoqi_driver | |
| 1 | roseus | |
| 1 | rostwitter | |
| 1 | catkin | |
| 2 | nao_interaction_msgs | |
| 1 | jsk_robot_startup | |
| 1 | nao_bringup | |
| 1 | ros_speech_recognition |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| jsk_robot | github-jsk-ros-pkg-jsk_robot |
Launch files
- launch/jsk_nao_startup.launch
-
- network_interface [default: eth0]
- launch_twitter [default: false]
- launch_joy [default: true]
- launch_ros_speech_recognition [default: false]
- audio_org [default: /nao_robot/naoqi_driver/audio]
- audio_topic [default: /audio]
- n_channel [default: 1]
- depth [default: 16]
- sample_rate [default: 48000]
- engine [default: Google]
- language [default: ja-JP]
- continuous [default: true]
- dynamic_energy_threshold [default: false]
- energy_threshold [default: 50]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged jsk_nao_startup at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 1.1.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/jsk-ros-pkg/jsk_robot.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-12-11 |
| Dev Status | DEVELOPED |
| 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
The jsk_nao_startup package
Additional Links
No additional links.
Maintainers
- Kei Okada
Authors
No additional authors.
jsk_nao_startup
What's this?
contains JSK's launch file for startup NAO with ROS
Running startup program
rossetip
roslaunch jsk_nao_startup jsk_nao_startup.launch network_interface:=<your network interaface (ex. eth0, enp0s31f6...)>
% For network_interface variable, please check ifconfig for the interface name your PC uses.
Nodes, topics and services
These are a list of nodes and some useful topics and services from jsk_nao_startup.launch.
nao_robot kochigami-develop branch is used to draw this figure.
Main modification is set namespace to nao_full.launch like pepper_full.launch.
NAO robot
Publications:
* /joint_states [sensor_msgs/JointState]
* /nao_robot/audio [naoqi_bridge_msgs/AudioBuffer]
* /nao_robot/bumper [naoqi_bridge_msgs/Bumper]
* /nao_robot/camera/bottom/camera_info [sensor_msgs/CameraInfo]
* /nao_robot/camera/bottom/image_raw [sensor_msgs/Image]
* /nao_robot/camera/front/camera_info [sensor_msgs/CameraInfo]
* /nao_robot/camera/front/image_raw [sensor_msgs/Image]
* /nao_robot/chest_touch [naoqi_bridge_msgs/ChestButtonPressed]
* /nao_robot/hand_touch [naoqi_bridge_msgs/HandTouch]
* /nao_robot/head_touch [naoqi_bridge_msgs/HeadTouch]
* /nao_robot/imu/base [sensor_msgs/Imu]
* /nao_robot/imu/torso [sensor_msgs/Imu]
* /nao_robot/info [naoqi_bridge_msgs/StringStamped]
* /nao_robot/laser [sensor_msgs/LaserScan]
* /nao_robot/odom [nav_msgs/Odometry]
* /nao_robot/sonar/back [sensor_msgs/Range]
* /nao_robot/sonar/front [sensor_msgs/Range]
* /tf [tf2_msgs/TFMessage]
Subscriptions:
* /cmd_vel [geometry_msgs/Twist]
* /joint_angles [naoqi_bridge_msgs/JointAnglesWithSpeed]
* /move_base_simple/goal [geometry_msgs/PoseStamped]
* /speech [std_msgs/String]
Services:
* /naoqi_driver/fade_leds
* /naoqi_driver/get_language
* /naoqi_driver/get_robot_config
* /naoqi_driver/get_volume
* /naoqi_driver/play_audio_file
* /naoqi_driver/reset_leds
* /naoqi_driver/set_language
* /naoqi_driver/set_volume
NAO's pose control
Publications:
* /nao_robot/pose/get_life_state [std_msgs/String]
Action:
* /nao_robot/pose/joint_trajectory [naoqi_bridge_msgs/JointTrajectoryAction]
Services:
* /nao_robot/pose/life/disable
* /nao_robot/pose/life/enable
* /nao_robot/pose/life/get_state
* /nao_robot/pose/rest
* /nao_robot/pose/wakeup
Joystick
| Button | Function |
|---|---|
| 1 | Servo on/off |
| 2 | Interactive Life |
| 3 | Disable Life |
| 4+5 | Move head-p, head-y |
| 6+7 | Teleop Twist |
| 6+7+8 | Teleop Twist Turbo |
Related nodes: /joy_client, joy_node, /teleop_twist_joy
Dashboard
Related nodes: /naoqi_dashboard, /naoqi_dashboard_aggregator, /tf_monitor
ros_speech_recognition
When you want to use ros_speech_recognition with NAO microphone, please set launch_ros_sppech_recognition "true"
You can change audio_org(default="/nao_robot/naoqi_driver/audio"), depth, sample_rate(please ssh your robot and check by "pactl list short sinks"), engine(default="Google"), language(default="ja-JP"), dynamic_energy_threshold and energy_threshold.
Example of usage
roslaunch jsk_nao_startup jsk_nao_startup.launch network_interface:=enp4s0 launch_ros_speech_recognition:=true audio_org:=/nao_robot/naoqi_driver/audio
CHANGELOG
Changelog for package jsk_nao_startup
1.1.0 (2017-07-16)
1.0.9 (2016-11-09)
1.0.8 (2016-11-08)
1.0.7 (2016-11-02)
- [jsk_nao_startup] same as #675
- add nao_bringup to run depend
- [jsk_naoqi_robot] speak when program is started (by unix:sleep) or terminated (by overriden roseus-sigint-handler)
- Contributors: Kanae Kochigami
1.0.6 (2016-06-17)
1.0.5 (2016-04-18)
- add params for new naoqi_driver.launch
- Contributors: Kanae Kochigami
1.0.4 (2016-03-21)
1.0.3 (2016-03-05)
1.0.2 (2016-02-14)
1.0.1 (2015-11-19)
- move jsk_nao_startup under jsk_naoqi_robot
1.0.0 (2015-11-06)
0.0.13 (2015-11-06)
0.0.12 (2015-11-06)
0.0.11 (2015-09-01)
0.0.10 (2015-08-16)
- jsk_nao_startup/CMakeLists.txt : remove naoqi_driver from find_package
- Contributors: Kei Okada
0.0.9 (2015-08-03)
0.0.8 (2015-07-16)
0.0.7 (2015-06-11)
- change name of nao_speech.launch to speech.launch
- Contributors: Kanae Kochigami
0.0.6 (2015-04-10)
0.0.5 (2015-04-08)
0.0.4 (2015-01-30)
0.0.3 (2015-01-09)
0.0.2 (2015-01-08)
0.0.1 (2014-12-25)
- nao_vision and audio launch added
- update nao_driver -> naoqi_driver
- add jsk_nao_startup
- Contributors: Yuki Furuta, Kanae Kochigami
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 2 | naoqi_driver | |
| 1 | roseus | |
| 1 | rostwitter | |
| 1 | catkin | |
| 2 | nao_interaction_msgs | |
| 1 | jsk_robot_startup | |
| 1 | nao_bringup | |
| 1 | ros_speech_recognition |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| jsk_robot | github-jsk-ros-pkg-jsk_robot |
Launch files
- launch/jsk_nao_startup.launch
-
- network_interface [default: eth0]
- launch_twitter [default: false]
- launch_joy [default: true]
- launch_ros_speech_recognition [default: false]
- audio_org [default: /nao_robot/naoqi_driver/audio]
- audio_topic [default: /audio]
- n_channel [default: 1]
- depth [default: 16]
- sample_rate [default: 48000]
- engine [default: Google]
- language [default: ja-JP]
- continuous [default: true]
- dynamic_energy_threshold [default: false]
- energy_threshold [default: 50]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged jsk_nao_startup at Robotics Stack Exchange
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.