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 audio extraction, naoqi_driver opens a public endpoint, on a random port by default.

You can set a local endpoint instead by setting the qi_listen_url argument, e.g. qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.

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

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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 Paléologue

2.1.0 (2023-11-23)

• New "Listen" action
• Remove usages of BOOST_FOREACH
• New [qi_listen_url]{.title-ref} option and update README
• Track [ros2]{.title-ref} branch of [nao_meshes]{.title-ref}
• Get odom at the same time as joint states
• No need to register the driver as a NAOqi service
• Simplify starting and stopping the node An extra thread is not required anymore to run the ROS loop.
• Safer unsubscription from ALMemory
• Switch to NAOqi 2 subscribers for touch events
• Fix build warnings
  • libqi-related warnings
    • Use .value() when getting a Qi service
  • Fix lack of return value in [camera.cpp]{.title-ref}
  • Fix deprecated include to [image_transport.h]{.title-ref}
  • Remove unused mentions to behavior trees
• Better error messages
  • Transform computation
• Experimental running the driver and for dev Adapted from https://github.com/sea-bass/turtlebot3_behavior_demos
• Support NAOqi 2.8 (NAO v6)
  • Repair audio
• Support for humble & iron
  • RViz files converted to RViz2 ones
  • Update use of placeholders
  • Update robot description code
  • Remove mentions to catkin
• Update README:
  • New details about building meshes
  • How to build from source now
• Remove dependence to [orocos-kdl]{.title-ref}
• Contributors: Maxime Busy, Victor Paleologue, Victor Paléologue

2.0.0 (2022-09-13)

• Update README, add buildfarm status badges
• Fix typos in README, update username arg in launchfile
• Merge branch 'ros2_integration' into main
• Remove old README
• Migrate Travis CI to github actions, remove spurious README
• Update the package version, add a README.md
• Initial commit
• Fix robot_state_publisher header import
• Merge branch 'naoqi-2.9' into ros2_integration
• Merge branch 'temp_tests' into naoqi-2.9
• Correct include towards ros_helper, and small functional updates
• Refactor the converters for NAOqi 2.9 compatibility
• Refactor the audio event for NAOqi 2.9 compatibility
• Add the NaoqiVersion struct
• Add the getNaoqiVersion and isNaoqiVersionLesser methods, refactor the getInfoRobotLocal method
• Update the package definition and its CMakeLists
• Fix the Driver class
• Fix the subscribers
• Fix the services
• Fix the recorders
• Fix the publishers
• Fix the helpers
• Fix the events
• Fix the converters
• Fix project headers
• Merge pull request #10 from arturocuma/subscriber_refactoring Subscriber refactoring
• Merge pull request #9 from mcaniot/publishers_refactoring Publishers refactoring
• Merge pull request #8 from elagrue/event_refactoring Event refactoring
• Merge pull request #7 from mbusy/converters_refactoring Converters refactoring
• Merge pull request #6 from mbusy/migration_helpers Migration helpers
• Merge pull request #5 from mbusy/driver_refactoring Driver refactoring
• Merge pull request #4 from mbusy/services_refactoring Services refactoring
• Merge pull request #3 from mbusy/helpers_refactoring Helpers refactoring
• Merge pull request #2 from

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