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naoqi_driver package from naoqi_driver repo

naoqi_driver

Package Summary

Tags No category tags.
Version 2.0.0
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 2022-09-15
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

Driver module between Aldebaran's NAOqiOS and ROS2. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

Additional Links

No additional links.

Maintainers

  • 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.

Dependencies

To run, the driver requires the naoqi_libqi, naoqi_libqicore and naoqi_bridge_msgs packages. Additionally, pepper_meshes and/or nao_meshes can be useful if you try to display the robot in RViz.

Using the binaries

To install the binaries, use the following commands:

sudo apt-get install ros-<your_distro>-naoqi-libqi
sudo apt-get install ros-<your_distro>-naoqi-libqicore
sudo apt-get install ros-<your_distro>-naoqi-bridge-msgs

# Optional, if you want to install the Pepper or NAO meshes
sudo apt-get install ros-<your_distro>-pepper-meshes
sudo apt-get install ros-<your_distro>-nao-meshes

Please not that if the driver has been released, you can also install it using apt-get

sudo apt-get install ros-<your_distro>-naoqi-driver

Installing from source

Create a workspace, and clone the required repositories. Then, checkout a relevant tag / branch for the cloned repos, and build the packages. This is a cloning example for the ROS2 foxy distro:

git clone --branch v2.5.0-foxy https://github.com/ros-naoqi/libqi.git
git clone --branch v2.5.0-foxy https://github.com/ros-naoqi/libqicore.git
git clone https://github.com/ros-naoqi/naoqi_bridge_msgs2.git
git clone https://github.com/ros-naoqi/naoqi_driver2.git

# Eventually, if you didn't install the robot meshes.
git clone --branch ros2 https://github.com/ros-naoqi/pepper_meshes.git
git clone --branch ros2 https://github.com/ros-naoqi/nao_meshes.git

Launch

The driver can be launched using the following command:

ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<ip> nao_port:=<port> network_interface:=<interface> username:=<name> password:=<passwd>

Note that the username and password arguments are only required for robots running naoqi 2.9 or greater.

Documentation

For further information, you can consult the documentation (OUTDATED) here or build it:

cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/

Build status

ROS Distro Binary Status Source Status Github Build
Humble ros2-humble-jammy
Galactic Build Status Build Status ros-galactic-focal
Foxy Build Status Build Status ros-foxy-focal
CHANGELOG

Changelog for package naoqi_driver

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 mbusy/recorders_refactoring Recorders refactoring
  • Merge pull request #1 from mbusy/interface_headers Interface headers
  • adding const at speech_callback
  • changing ConstSharedPtr to ConstSharedPtr&
  • pull request changes
  • refactor teleop subscriber for geometry_msgs, naoqi_bridge_msgs compliancy
  • refactor speech subscriber for rclcpp, std_msgs compliancy
  • refactor moveto for rclcpp, geometry_msgs compliancy
  • Fix Refactor sonar publisher replace it by (*it)
  • Fix Refactor camera publisher replace create_publisher by create_camera_publisher
  • Event refactoring minor bugfix
  • Fix Refactor sonar publisher replace Publisher with Publisher<sensor_msgs::msg::Range>::SharedPtr replace publishers::getNumSubscribers by Node::count_subscribers use clear() function to reset vector pubs_ replace . by ->
  • Fix Refactor log publisher remove header serialization.h replace Publisher by Publisher<rcl_interfaces::msg::Log>::SharedPtr
  • Fix helpers called function replace getNumSubscribers by count_subscribers
  • Fix Refactor joint_state publisher replace rclcpp::Publisher by rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr replace . by ->
  • Fix Refactor Info remove unnecessary parameters replace StringStamped by string_stamped
  • Fix Refactor Camera publisher Add note above commented code remove unused header replace helpers::pulishers by helpers::Node
  • Fix Refactor basic publisher replace rclcpp::Publisher by rclcpp::Publisher<T>::SharedPtr
  • Fix Refactor basic publisher replace helpers::publishers by helper::Node
  • Specify the IP address when calling the stopRecord method in the Driver class
  • Remove the Master URI related methods in ros_env.hpp
  • Fix include names for the driver_helpers header
  • Global fix for the services
  • Fix the converter accoring to the review of PR #7
  • Refactor Camera publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace ros by rclcpp add helpers to replace deprecaded getNumSubscribers comment if that remove compressedDepth topics check if still poping in ros2
  • Refactor the touch event
  • Refactor the basic event
  • Refactor the audio event
  • Refactor the touch converter
  • Refactor the sonar converter
  • Refactor the odom converter
  • Refactor the nao footprint header
  • Refactor info publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace ros by rclcpp replace setParam by set_parameters
  • Refactor the memory list converter
  • Refactor sonar publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher replace ros by rclcpp add helpers to replace getNumSubscribers
  • Refactor log publisher replace ros bu rclcpp replace rosgraph_msgs by rcl_interfaces/msg
  • Refactor the joint_state publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher replace ros by rclcpp
  • Refactor the basic publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher replace ros by rclcpp add helpers function to replace getNumSubscribers
  • Refactor the log converter. Use rcl_interfaces::msg::Log and the RCUTILS_LOG_SEVERITY enum
  • Remove unnecessary classes, realocate the various methods in the Node class. The Time class is kept for now, but ought to be removed in the future
  • Add the Logger helper class, allowing to access to the driver node\'s logger throughout the project
  • Add the Publisher helper class, rendering Publisher related features accessible throughout the project
  • Add a node helper class to set the shared ptr towards the node, refactor the external registration script accordingly
  • Refactor the laser converter
  • Refactor the joint state converter. The general rclcpp logger is used to log, that might be modified in the future
  • Refactor the info converter
  • Refactor the imu converter
  • Refactor the diagnostics converter
  • Refactor memory publisher: correct headers names namespace with _ replace .h missing by .hpp
  • Refactor the camera converter. Logging with the rclcpp general logger might be a problem
  • Refactor the string memory publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher
  • Refactor the int memory publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher
  • Refactor the float memory publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher
  • Refactor the bool memory publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher
  • Refactor the camera info definitions header
  • Refactor the audio converter
  • Use StringStamped.hpp in the string memory converter
  • Refactor the string memory converter
  • Refactor the int memory converter
  • Refactor the float memory converter
  • Refactor the bool memory converter
  • Set the qi session of the driver in the external registration script
  • Refactor the driver class
  • Refactor the set_language service
  • Refactor the robot_config service
  • Include the GetString hpp header in the get_language service
  • Refactor the get_language service
  • Refactor the driver_helpers, handle the new syntax for the naoqi_bridge_custom messages
  • Refactor the filesystem_helpers, use ament_index_cpp to get the packages share directories
  • Refactor transform_helpers, update the includes and the ROS message types
  • Refactor the global recorder to use the method of the recorder helper
  • Use the method provided by the recorder helper to check if the message timestamps are set to 0
  • Add the isZero static method to the recorder helper
  • Refactor the sonar recorder
  • refactor the log recorder
  • Refactor the joint_state recorder
  • Refactor the diagnostics recorder
  • Refactor the camera recorder
  • Refactor the basic recorder
  • Refactor the basic_event recorder
  • Use the time helper to call now()
  • Refactor the globalrecorder recorder. For now the rosbag2 calls are commented
  • Refactor the event interface header for rclcpp compliance
  • Refactor recorder interface header. The rosbag includes will have to be updated
  • Refactor the service interface header for rclcpp compliance
  • Refactor the subscriber interface header for rclcpp compliance
  • Refactor converter interface header for rclcpp compliance ros::Node::now() might not work, to be possibly updated
  • Refactor the publisher interface header for rclcpp compliance
  • Relocalize the Time helper in the includes folder
  • Initialize the time helper in the external registration, and add comments
  • Update CMakeLists for the whole project
  • Add a time helper for the project
  • Update the external registration code for rclcpp compliance
  • Add the DriverAuthenticator and DriverAuthenticatorFactory classes
  • Add a python launchfile for ros2 launch
  • Use only one CMakeLists for colcon build
  • Update package.xml for ros2 compatibility
  • Removing unused naoqi_env file
  • Merge pull request #132 from mbusy/robust_movebase Robustify moveTo
  • Safer moveTo: only odom and base_footprint are accepted as references, and check if yaw is nan
  • Merge pull request #131 from ros-naoqi/testing_repo Update CI for melodic
  • melodic not allowed to fail anymore, indigo allowed
  • use testing repo
  • Contributors: Arturo, Arturo Cruz, Edo, Maxime Busy, Mikael Arguedas, Pandhariix, eneuron, mbusy, mcaniot

0.5.11 (2020-01-08)

  • Merge pull request #129 from Pandhariix/melodic_compatibility Melodic compatibility
  • Merge pull request #126 from Pandhariix/lasers_range Parametrizable range for Pepper\'s lasers
  • Merge pull request #130 from Pandhariix/melodic_ci Adapt the README to the new CI
  • Update CI, add melodic-stretch
  • Adapt the README to the new CI
  • Merge pull request #128 from ros-naoqi/use_ici use industrial_ci instead of custom CI
  • send emails only for builds on master branch Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • use industrial_ci instead of custom CI Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Remove -Werror=deprecated-declarations to compile for melodic
  • Replace the joint and joint mimics boost shared pointers by urdf::JointMimicSharedPtr & urdf::JointSharedPtr
  • Include iostream to avoid cout not a member of std
  • Merge pull request #127 from ros-naoqi/remove_eol_lunar remove EOL ROS Lunar from travis config
  • remove lunar from readme as well Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • remove EOL ROS Lunar from travis config Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Parametrizable range for Pepper\'s lasers. Default range, 0.1 to 3.0 meters
  • Merge pull request #125 from Pandhariix/indigo_ci Use std::numeric_limits<double>::quiet_NaN for indigo compatibility
  • Merge pull request #124 from ros-naoqi/fix_orocos upgrade to make sure all package versions are consistent
  • Replace std::nan to std::numeric_limits<double>::quiet_NaN for the indigo compatibility
  • upgrade to make sure all package versions are comsistent Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #123 from ros-naoqi/rosdep_eol pass rosdep eol flag
  • pass rosdep eol flag Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #113 from Pandhariix/master Add velocities and torques to the joint states
  • Changing the maintainer
  • Add velocities and torques to the joint states
  • Merge pull request #112 from Pandhariix/hotfix/indigo_compilation Fix compilation error for indigo
  • Fix compilation error for indigo
  • Merge pull request #111 from Pandhariix/feature/stereo Feature/stereo
  • Print the detected version of the robot
  • Update boot_config to take into account the stereo
  • Update naoqi_driver to take into account robots with stereo
  • Add methods handling the camera parameters for the stereo cameras and call them in the getCameraInfo method
  • Update the CameraConverter class to take the stereo into account
  • Add the isDepthStereo method to the driver helpers
  • Add the RGB Stereo and Depth Stereo parameters to the vision definitions
  • Merge pull request #108 from kochigami/add-initializing-message
    • add naoqi_driver initialized message
    • modify the message of service and subscriber registering process
  • modify message of service and subscriber registering process like others
  • add naoqi_driver initialized message
  • Contributors: Kanae Kochigami, Maxime Busy, Mikael Arguedas, Natalia Lyubova, Pandhariix, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged naoqi_driver at answers.ros.org

naoqi_driver package from naoqi_driver repo

naoqi_driver

Package Summary

Tags No category tags.
Version 2.0.0
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 2022-09-15
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

Driver module between Aldebaran's NAOqiOS and ROS2. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

Additional Links

No additional links.

Maintainers

  • 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.

Dependencies

To run, the driver requires the naoqi_libqi, naoqi_libqicore and naoqi_bridge_msgs packages. Additionally, pepper_meshes and/or nao_meshes can be useful if you try to display the robot in RViz.

Using the binaries

To install the binaries, use the following commands:

sudo apt-get install ros-<your_distro>-naoqi-libqi
sudo apt-get install ros-<your_distro>-naoqi-libqicore
sudo apt-get install ros-<your_distro>-naoqi-bridge-msgs

# Optional, if you want to install the Pepper or NAO meshes
sudo apt-get install ros-<your_distro>-pepper-meshes
sudo apt-get install ros-<your_distro>-nao-meshes

Please not that if the driver has been released, you can also install it using apt-get

sudo apt-get install ros-<your_distro>-naoqi-driver

Installing from source

Create a workspace, and clone the required repositories. Then, checkout a relevant tag / branch for the cloned repos, and build the packages. This is a cloning example for the ROS2 foxy distro:

git clone --branch v2.5.0-foxy https://github.com/ros-naoqi/libqi.git
git clone --branch v2.5.0-foxy https://github.com/ros-naoqi/libqicore.git
git clone https://github.com/ros-naoqi/naoqi_bridge_msgs2.git
git clone https://github.com/ros-naoqi/naoqi_driver2.git

# Eventually, if you didn't install the robot meshes.
git clone --branch ros2 https://github.com/ros-naoqi/pepper_meshes.git
git clone --branch ros2 https://github.com/ros-naoqi/nao_meshes.git

Launch

The driver can be launched using the following command:

ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<ip> nao_port:=<port> network_interface:=<interface> username:=<name> password:=<passwd>

Note that the username and password arguments are only required for robots running naoqi 2.9 or greater.

Documentation

For further information, you can consult the documentation (OUTDATED) here or build it:

cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/

Build status

ROS Distro Binary Status Source Status Github Build
Humble ros2-humble-jammy
Galactic Build Status Build Status ros-galactic-focal
Foxy Build Status Build Status ros-foxy-focal
CHANGELOG

Changelog for package naoqi_driver

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 mbusy/recorders_refactoring Recorders refactoring
  • Merge pull request #1 from mbusy/interface_headers Interface headers
  • adding const at speech_callback
  • changing ConstSharedPtr to ConstSharedPtr&
  • pull request changes
  • refactor teleop subscriber for geometry_msgs, naoqi_bridge_msgs compliancy
  • refactor speech subscriber for rclcpp, std_msgs compliancy
  • refactor moveto for rclcpp, geometry_msgs compliancy
  • Fix Refactor sonar publisher replace it by (*it)
  • Fix Refactor camera publisher replace create_publisher by create_camera_publisher
  • Event refactoring minor bugfix
  • Fix Refactor sonar publisher replace Publisher with Publisher<sensor_msgs::msg::Range>::SharedPtr replace publishers::getNumSubscribers by Node::count_subscribers use clear() function to reset vector pubs_ replace . by ->
  • Fix Refactor log publisher remove header serialization.h replace Publisher by Publisher<rcl_interfaces::msg::Log>::SharedPtr
  • Fix helpers called function replace getNumSubscribers by count_subscribers
  • Fix Refactor joint_state publisher replace rclcpp::Publisher by rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr replace . by ->
  • Fix Refactor Info remove unnecessary parameters replace StringStamped by string_stamped
  • Fix Refactor Camera publisher Add note above commented code remove unused header replace helpers::pulishers by helpers::Node
  • Fix Refactor basic publisher replace rclcpp::Publisher by rclcpp::Publisher<T>::SharedPtr
  • Fix Refactor basic publisher replace helpers::publishers by helper::Node
  • Specify the IP address when calling the stopRecord method in the Driver class
  • Remove the Master URI related methods in ros_env.hpp
  • Fix include names for the driver_helpers header
  • Global fix for the services
  • Fix the converter accoring to the review of PR #7
  • Refactor Camera publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace ros by rclcpp add helpers to replace deprecaded getNumSubscribers comment if that remove compressedDepth topics check if still poping in ros2
  • Refactor the touch event
  • Refactor the basic event
  • Refactor the audio event
  • Refactor the touch converter
  • Refactor the sonar converter
  • Refactor the odom converter
  • Refactor the nao footprint header
  • Refactor info publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace ros by rclcpp replace setParam by set_parameters
  • Refactor the memory list converter
  • Refactor sonar publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher replace ros by rclcpp add helpers to replace getNumSubscribers
  • Refactor log publisher replace ros bu rclcpp replace rosgraph_msgs by rcl_interfaces/msg
  • Refactor the joint_state publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher replace ros by rclcpp
  • Refactor the basic publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher replace ros by rclcpp add helpers function to replace getNumSubscribers
  • Refactor the log converter. Use rcl_interfaces::msg::Log and the RCUTILS_LOG_SEVERITY enum
  • Remove unnecessary classes, realocate the various methods in the Node class. The Time class is kept for now, but ought to be removed in the future
  • Add the Logger helper class, allowing to access to the driver node\'s logger throughout the project
  • Add the Publisher helper class, rendering Publisher related features accessible throughout the project
  • Add a node helper class to set the shared ptr towards the node, refactor the external registration script accordingly
  • Refactor the laser converter
  • Refactor the joint state converter. The general rclcpp logger is used to log, that might be modified in the future
  • Refactor the info converter
  • Refactor the imu converter
  • Refactor the diagnostics converter
  • Refactor memory publisher: correct headers names namespace with _ replace .h missing by .hpp
  • Refactor the camera converter. Logging with the rclcpp general logger might be a problem
  • Refactor the string memory publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher
  • Refactor the int memory publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher
  • Refactor the float memory publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher
  • Refactor the bool memory publisher add msg namespace replace ros::NodeHandle by rclcpp::Node replace . by pointer -> replace advertise by create_publisher
  • Refactor the camera info definitions header
  • Refactor the audio converter
  • Use StringStamped.hpp in the string memory converter
  • Refactor the string memory converter
  • Refactor the int memory converter
  • Refactor the float memory converter
  • Refactor the bool memory converter
  • Set the qi session of the driver in the external registration script
  • Refactor the driver class
  • Refactor the set_language service
  • Refactor the robot_config service
  • Include the GetString hpp header in the get_language service
  • Refactor the get_language service
  • Refactor the driver_helpers, handle the new syntax for the naoqi_bridge_custom messages
  • Refactor the filesystem_helpers, use ament_index_cpp to get the packages share directories
  • Refactor transform_helpers, update the includes and the ROS message types
  • Refactor the global recorder to use the method of the recorder helper
  • Use the method provided by the recorder helper to check if the message timestamps are set to 0
  • Add the isZero static method to the recorder helper
  • Refactor the sonar recorder
  • refactor the log recorder
  • Refactor the joint_state recorder
  • Refactor the diagnostics recorder
  • Refactor the camera recorder
  • Refactor the basic recorder
  • Refactor the basic_event recorder
  • Use the time helper to call now()
  • Refactor the globalrecorder recorder. For now the rosbag2 calls are commented
  • Refactor the event interface header for rclcpp compliance
  • Refactor recorder interface header. The rosbag includes will have to be updated
  • Refactor the service interface header for rclcpp compliance
  • Refactor the subscriber interface header for rclcpp compliance
  • Refactor converter interface header for rclcpp compliance ros::Node::now() might not work, to be possibly updated
  • Refactor the publisher interface header for rclcpp compliance
  • Relocalize the Time helper in the includes folder
  • Initialize the time helper in the external registration, and add comments
  • Update CMakeLists for the whole project
  • Add a time helper for the project
  • Update the external registration code for rclcpp compliance
  • Add the DriverAuthenticator and DriverAuthenticatorFactory classes
  • Add a python launchfile for ros2 launch
  • Use only one CMakeLists for colcon build
  • Update package.xml for ros2 compatibility
  • Removing unused naoqi_env file
  • Merge pull request #132 from mbusy/robust_movebase Robustify moveTo
  • Safer moveTo: only odom and base_footprint are accepted as references, and check if yaw is nan
  • Merge pull request #131 from ros-naoqi/testing_repo Update CI for melodic
  • melodic not allowed to fail anymore, indigo allowed
  • use testing repo
  • Contributors: Arturo, Arturo Cruz, Edo, Maxime Busy, Mikael Arguedas, Pandhariix, eneuron, mbusy, mcaniot

0.5.11 (2020-01-08)

  • Merge pull request #129 from Pandhariix/melodic_compatibility Melodic compatibility
  • Merge pull request #126 from Pandhariix/lasers_range Parametrizable range for Pepper\'s lasers
  • Merge pull request #130 from Pandhariix/melodic_ci Adapt the README to the new CI
  • Update CI, add melodic-stretch
  • Adapt the README to the new CI
  • Merge pull request #128 from ros-naoqi/use_ici use industrial_ci instead of custom CI
  • send emails only for builds on master branch Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • use industrial_ci instead of custom CI Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Remove -Werror=deprecated-declarations to compile for melodic
  • Replace the joint and joint mimics boost shared pointers by urdf::JointMimicSharedPtr & urdf::JointSharedPtr
  • Include iostream to avoid cout not a member of std
  • Merge pull request #127 from ros-naoqi/remove_eol_lunar remove EOL ROS Lunar from travis config
  • remove lunar from readme as well Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • remove EOL ROS Lunar from travis config Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Parametrizable range for Pepper\'s lasers. Default range, 0.1 to 3.0 meters
  • Merge pull request #125 from Pandhariix/indigo_ci Use std::numeric_limits<double>::quiet_NaN for indigo compatibility
  • Merge pull request #124 from ros-naoqi/fix_orocos upgrade to make sure all package versions are consistent
  • Replace std::nan to std::numeric_limits<double>::quiet_NaN for the indigo compatibility
  • upgrade to make sure all package versions are comsistent Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #123 from ros-naoqi/rosdep_eol pass rosdep eol flag
  • pass rosdep eol flag Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #113 from Pandhariix/master Add velocities and torques to the joint states
  • Changing the maintainer
  • Add velocities and torques to the joint states
  • Merge pull request #112 from Pandhariix/hotfix/indigo_compilation Fix compilation error for indigo
  • Fix compilation error for indigo
  • Merge pull request #111 from Pandhariix/feature/stereo Feature/stereo
  • Print the detected version of the robot
  • Update boot_config to take into account the stereo
  • Update naoqi_driver to take into account robots with stereo
  • Add methods handling the camera parameters for the stereo cameras and call them in the getCameraInfo method
  • Update the CameraConverter class to take the stereo into account
  • Add the isDepthStereo method to the driver helpers
  • Add the RGB Stereo and Depth Stereo parameters to the vision definitions
  • Merge pull request #108 from kochigami/add-initializing-message
    • add naoqi_driver initialized message
    • modify the message of service and subscriber registering process
  • modify message of service and subscriber registering process like others
  • add naoqi_driver initialized message
  • Contributors: Kanae Kochigami, Maxime Busy, Mikael Arguedas, Natalia Lyubova, Pandhariix, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged naoqi_driver at answers.ros.org

No version for distro rolling. Known supported distros are highlighted in the buttons above.

naoqi_driver package from naoqi_driver repo

naoqi_driver

Package Summary

Tags No category tags.
Version 0.5.13
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 2022-09-13
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

Driver module between Aldebaran's NAOqiOS and ROS. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

Additional Links

No 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.

What it does

The naoqi_driver module is in charge of providing some bridge capabilities between ROS and NAOqiOS.

How it works

The naoqi_driver module is a NAOqi module that also acts as a ROS node. As there is no roscore on the robot, it needs to be given the IP of the roscore in order to be registered as a node in the ROS processing graph. 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.

For further information, you can consult the documentation (OUTDATED) here or build it:

cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/

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.

Launch

The driver can be launched using the following command:

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> network_interface:=<interface> username:=<name> password:=<passwd>

Note that the username and password arguments are only required for robots running naoqi 2.9 or greater

:warning: naoqi_driver for melodic and greater have to be used for robots running naoqi 2.9 and greater

Build status

ROS Distro Binary Status Source Status Github Build
Noetic Build Status Build Status ros-noetic-focal
Melodic Build Status Build Status ros-melodic-bionic
Kinetic passing passing ros-kinetic-xenial
CHANGELOG

Changelog for package naoqi_driver

0.5.13 (2022-09-14)

  • Merge branch \'noetic_update\'
  • Update package.xml for noetic compatibility
  • Update README, remove CI stretch tests
  • Contributors: mbusy

0.5.12 (2022-09-07)

  • Fix typo in README, remove old rst README
  • Merge pull request #153 from mbusy/ci CI migration to github actions
  • Migrate CI from TravisCI to Github actions, update the README accordingly (switching to markdown)
  • Merge pull request #152 from mbusy/naoqi-2.9 Naoqi 2.9 compatibility
  • Refactor the converters for compatibility
  • Refactor the audio event for compatibility
  • Add the getNaoqiVersion and isNaoqiVersionLesser to the driver helpers
  • Add the NaoqiVersion struct
  • Handle libqi 2.9 for the external registration, and update the launchfile accordingly
  • Add the driver authenticator class
  • Merge pull request #132 from mbusy/robust_movebase Robustify moveTo
  • Safer moveTo: only odom and base_footprint are accepted as references, and check if yaw is nan
  • Merge pull request #131 from ros-naoqi/testing_repo Update CI for melodic
  • melodic not allowed to fail anymore, indigo allowed
  • use testing repo
  • Contributors: Maxime Busy, Mikael Arguedas, Pandhariix, mbusy

0.5.11 (2020-01-08)

  • Merge pull request #129 from Pandhariix/melodic_compatibility Melodic compatibility
  • Merge pull request #126 from Pandhariix/lasers_range Parametrizable range for Pepper\'s lasers
  • Merge pull request #130 from Pandhariix/melodic_ci Adapt the README to the new CI
  • Update CI, add melodic-stretch
  • Adapt the README to the new CI
  • Merge pull request #128 from ros-naoqi/use_ici use industrial_ci instead of custom CI
  • send emails only for builds on master branch Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • use industrial_ci instead of custom CI Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Remove -Werror=deprecated-declarations to compile for melodic
  • Replace the joint and joint mimics boost shared pointers by urdf::JointMimicSharedPtr & urdf::JointSharedPtr
  • Include iostream to avoid cout not a member of std
  • Merge pull request #127 from ros-naoqi/remove_eol_lunar remove EOL ROS Lunar from travis config
  • remove lunar from readme as well Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • remove EOL ROS Lunar from travis config Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Parametrizable range for Pepper\'s lasers. Default range, 0.1 to 3.0 meters
  • Merge pull request #125 from Pandhariix/indigo_ci Use std::numeric_limits<double>::quiet_NaN for indigo compatibility
  • Merge pull request #124 from ros-naoqi/fix_orocos upgrade to make sure all package versions are consistent
  • Replace std::nan to std::numeric_limits<double>::quiet_NaN for the indigo compatibility
  • upgrade to make sure all package versions are comsistent Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #123 from ros-naoqi/rosdep_eol pass rosdep eol flag
  • pass rosdep eol flag Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #113 from Pandhariix/master Add velocities and torques to the joint states
  • Changing the maintainer
  • Add velocities and torques to the joint states
  • Merge pull request #112 from Pandhariix/hotfix/indigo_compilation Fix compilation error for indigo
  • Fix compilation error for indigo
  • Merge pull request #111 from Pandhariix/feature/stereo Feature/stereo
  • Print the detected version of the robot
  • Update boot_config to take into account the stereo
  • Update naoqi_driver to take into account robots with stereo
  • Add methods handling the camera parameters for the stereo cameras and call them in the getCameraInfo method
  • Update the CameraConverter class to take the stereo into account
  • Add the isDepthStereo method to the driver helpers
  • Add the RGB Stereo and Depth Stereo parameters to the vision definitions
  • Merge pull request #108 from kochigami/add-initializing-message
    • add naoqi_driver initialized message
    • modify the message of service and subscriber registering process
  • modify message of service and subscriber registering process like others
  • add naoqi_driver initialized message
  • Contributors: Kanae Kochigami, Maxime Busy, Mikael Arguedas, Natalia Lyubova, Pandhariix, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged naoqi_driver at answers.ros.org

naoqi_driver package from naoqi_driver repo

naoqi_driver

Package Summary

Tags No category tags.
Version 0.5.13
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 2022-09-13
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

Driver module between Aldebaran's NAOqiOS and ROS. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

Additional Links

No 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.

What it does

The naoqi_driver module is in charge of providing some bridge capabilities between ROS and NAOqiOS.

How it works

The naoqi_driver module is a NAOqi module that also acts as a ROS node. As there is no roscore on the robot, it needs to be given the IP of the roscore in order to be registered as a node in the ROS processing graph. 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.

For further information, you can consult the documentation (OUTDATED) here or build it:

cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/

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.

Launch

The driver can be launched using the following command:

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> network_interface:=<interface> username:=<name> password:=<passwd>

Note that the username and password arguments are only required for robots running naoqi 2.9 or greater

:warning: naoqi_driver for melodic and greater have to be used for robots running naoqi 2.9 and greater

Build status

ROS Distro Binary Status Source Status Github Build
Noetic Build Status Build Status ros-noetic-focal
Melodic Build Status Build Status ros-melodic-bionic
Kinetic passing passing ros-kinetic-xenial
CHANGELOG

Changelog for package naoqi_driver

0.5.13 (2022-09-14)

  • Merge branch \'noetic_update\'
  • Update package.xml for noetic compatibility
  • Update README, remove CI stretch tests
  • Contributors: mbusy

0.5.12 (2022-09-07)

  • Fix typo in README, remove old rst README
  • Merge pull request #153 from mbusy/ci CI migration to github actions
  • Migrate CI from TravisCI to Github actions, update the README accordingly (switching to markdown)
  • Merge pull request #152 from mbusy/naoqi-2.9 Naoqi 2.9 compatibility
  • Refactor the converters for compatibility
  • Refactor the audio event for compatibility
  • Add the getNaoqiVersion and isNaoqiVersionLesser to the driver helpers
  • Add the NaoqiVersion struct
  • Handle libqi 2.9 for the external registration, and update the launchfile accordingly
  • Add the driver authenticator class
  • Merge pull request #132 from mbusy/robust_movebase Robustify moveTo
  • Safer moveTo: only odom and base_footprint are accepted as references, and check if yaw is nan
  • Merge pull request #131 from ros-naoqi/testing_repo Update CI for melodic
  • melodic not allowed to fail anymore, indigo allowed
  • use testing repo
  • Contributors: Maxime Busy, Mikael Arguedas, Pandhariix, mbusy

0.5.11 (2020-01-08)

  • Merge pull request #129 from Pandhariix/melodic_compatibility Melodic compatibility
  • Merge pull request #126 from Pandhariix/lasers_range Parametrizable range for Pepper\'s lasers
  • Merge pull request #130 from Pandhariix/melodic_ci Adapt the README to the new CI
  • Update CI, add melodic-stretch
  • Adapt the README to the new CI
  • Merge pull request #128 from ros-naoqi/use_ici use industrial_ci instead of custom CI
  • send emails only for builds on master branch Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • use industrial_ci instead of custom CI Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Remove -Werror=deprecated-declarations to compile for melodic
  • Replace the joint and joint mimics boost shared pointers by urdf::JointMimicSharedPtr & urdf::JointSharedPtr
  • Include iostream to avoid cout not a member of std
  • Merge pull request #127 from ros-naoqi/remove_eol_lunar remove EOL ROS Lunar from travis config
  • remove lunar from readme as well Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • remove EOL ROS Lunar from travis config Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Parametrizable range for Pepper\'s lasers. Default range, 0.1 to 3.0 meters
  • Merge pull request #125 from Pandhariix/indigo_ci Use std::numeric_limits<double>::quiet_NaN for indigo compatibility
  • Merge pull request #124 from ros-naoqi/fix_orocos upgrade to make sure all package versions are consistent
  • Replace std::nan to std::numeric_limits<double>::quiet_NaN for the indigo compatibility
  • upgrade to make sure all package versions are comsistent Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #123 from ros-naoqi/rosdep_eol pass rosdep eol flag
  • pass rosdep eol flag Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #113 from Pandhariix/master Add velocities and torques to the joint states
  • Changing the maintainer
  • Add velocities and torques to the joint states
  • Merge pull request #112 from Pandhariix/hotfix/indigo_compilation Fix compilation error for indigo
  • Fix compilation error for indigo
  • Merge pull request #111 from Pandhariix/feature/stereo Feature/stereo
  • Print the detected version of the robot
  • Update boot_config to take into account the stereo
  • Update naoqi_driver to take into account robots with stereo
  • Add methods handling the camera parameters for the stereo cameras and call them in the getCameraInfo method
  • Update the CameraConverter class to take the stereo into account
  • Add the isDepthStereo method to the driver helpers
  • Add the RGB Stereo and Depth Stereo parameters to the vision definitions
  • Merge pull request #108 from kochigami/add-initializing-message
    • add naoqi_driver initialized message
    • modify the message of service and subscriber registering process
  • modify message of service and subscriber registering process like others
  • add naoqi_driver initialized message
  • Contributors: Kanae Kochigami, Maxime Busy, Mikael Arguedas, Natalia Lyubova, Pandhariix, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged naoqi_driver at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.

naoqi_driver package from naoqi_driver repo

naoqi_driver

Package Summary

Tags No category tags.
Version 0.5.13
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 2022-09-13
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

Driver module between Aldebaran's NAOqiOS and ROS. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

Additional Links

No 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.

What it does

The naoqi_driver module is in charge of providing some bridge capabilities between ROS and NAOqiOS.

How it works

The naoqi_driver module is a NAOqi module that also acts as a ROS node. As there is no roscore on the robot, it needs to be given the IP of the roscore in order to be registered as a node in the ROS processing graph. 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.

For further information, you can consult the documentation (OUTDATED) here or build it:

cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/

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.

Launch

The driver can be launched using the following command:

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> network_interface:=<interface> username:=<name> password:=<passwd>

Note that the username and password arguments are only required for robots running naoqi 2.9 or greater

:warning: naoqi_driver for melodic and greater have to be used for robots running naoqi 2.9 and greater

Build status

ROS Distro Binary Status Source Status Github Build
Noetic Build Status Build Status ros-noetic-focal
Melodic Build Status Build Status ros-melodic-bionic
Kinetic passing passing ros-kinetic-xenial
CHANGELOG

Changelog for package naoqi_driver

0.5.13 (2022-09-14)

  • Merge branch \'noetic_update\'
  • Update package.xml for noetic compatibility
  • Update README, remove CI stretch tests
  • Contributors: mbusy

0.5.12 (2022-09-07)

  • Fix typo in README, remove old rst README
  • Merge pull request #153 from mbusy/ci CI migration to github actions
  • Migrate CI from TravisCI to Github actions, update the README accordingly (switching to markdown)
  • Merge pull request #152 from mbusy/naoqi-2.9 Naoqi 2.9 compatibility
  • Refactor the converters for compatibility
  • Refactor the audio event for compatibility
  • Add the getNaoqiVersion and isNaoqiVersionLesser to the driver helpers
  • Add the NaoqiVersion struct
  • Handle libqi 2.9 for the external registration, and update the launchfile accordingly
  • Add the driver authenticator class
  • Merge pull request #132 from mbusy/robust_movebase Robustify moveTo
  • Safer moveTo: only odom and base_footprint are accepted as references, and check if yaw is nan
  • Merge pull request #131 from ros-naoqi/testing_repo Update CI for melodic
  • melodic not allowed to fail anymore, indigo allowed
  • use testing repo
  • Contributors: Maxime Busy, Mikael Arguedas, Pandhariix, mbusy

0.5.11 (2020-01-08)

  • Merge pull request #129 from Pandhariix/melodic_compatibility Melodic compatibility
  • Merge pull request #126 from Pandhariix/lasers_range Parametrizable range for Pepper\'s lasers
  • Merge pull request #130 from Pandhariix/melodic_ci Adapt the README to the new CI
  • Update CI, add melodic-stretch
  • Adapt the README to the new CI
  • Merge pull request #128 from ros-naoqi/use_ici use industrial_ci instead of custom CI
  • send emails only for builds on master branch Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • use industrial_ci instead of custom CI Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Remove -Werror=deprecated-declarations to compile for melodic
  • Replace the joint and joint mimics boost shared pointers by urdf::JointMimicSharedPtr & urdf::JointSharedPtr
  • Include iostream to avoid cout not a member of std
  • Merge pull request #127 from ros-naoqi/remove_eol_lunar remove EOL ROS Lunar from travis config
  • remove lunar from readme as well Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • remove EOL ROS Lunar from travis config Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Parametrizable range for Pepper\'s lasers. Default range, 0.1 to 3.0 meters
  • Merge pull request #125 from Pandhariix/indigo_ci Use std::numeric_limits<double>::quiet_NaN for indigo compatibility
  • Merge pull request #124 from ros-naoqi/fix_orocos upgrade to make sure all package versions are consistent
  • Replace std::nan to std::numeric_limits<double>::quiet_NaN for the indigo compatibility
  • upgrade to make sure all package versions are comsistent Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #123 from ros-naoqi/rosdep_eol pass rosdep eol flag
  • pass rosdep eol flag Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #113 from Pandhariix/master Add velocities and torques to the joint states
  • Changing the maintainer
  • Add velocities and torques to the joint states
  • Merge pull request #112 from Pandhariix/hotfix/indigo_compilation Fix compilation error for indigo
  • Fix compilation error for indigo
  • Merge pull request #111 from Pandhariix/feature/stereo Feature/stereo
  • Print the detected version of the robot
  • Update boot_config to take into account the stereo
  • Update naoqi_driver to take into account robots with stereo
  • Add methods handling the camera parameters for the stereo cameras and call them in the getCameraInfo method
  • Update the CameraConverter class to take the stereo into account
  • Add the isDepthStereo method to the driver helpers
  • Add the RGB Stereo and Depth Stereo parameters to the vision definitions
  • Merge pull request #108 from kochigami/add-initializing-message
    • add naoqi_driver initialized message
    • modify the message of service and subscriber registering process
  • modify message of service and subscriber registering process like others
  • add naoqi_driver initialized message
  • Contributors: Kanae Kochigami, Maxime Busy, Mikael Arguedas, Natalia Lyubova, Pandhariix, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged naoqi_driver at answers.ros.org

naoqi_driver package from naoqi_driver repo

naoqi_driver

Package Summary

Tags No category tags.
Version 0.5.13
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 2022-09-13
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

Driver module between Aldebaran's NAOqiOS and ROS. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

Additional Links

No 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.

What it does

The naoqi_driver module is in charge of providing some bridge capabilities between ROS and NAOqiOS.

How it works

The naoqi_driver module is a NAOqi module that also acts as a ROS node. As there is no roscore on the robot, it needs to be given the IP of the roscore in order to be registered as a node in the ROS processing graph. 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.

For further information, you can consult the documentation (OUTDATED) here or build it:

cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/

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.

Launch

The driver can be launched using the following command:

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> network_interface:=<interface> username:=<name> password:=<passwd>

Note that the username and password arguments are only required for robots running naoqi 2.9 or greater

:warning: naoqi_driver for melodic and greater have to be used for robots running naoqi 2.9 and greater

Build status

ROS Distro Binary Status Source Status Github Build
Noetic Build Status Build Status ros-noetic-focal
Melodic Build Status Build Status ros-melodic-bionic
Kinetic passing passing ros-kinetic-xenial
CHANGELOG

Changelog for package naoqi_driver

0.5.13 (2022-09-14)

  • Merge branch \'noetic_update\'
  • Update package.xml for noetic compatibility
  • Update README, remove CI stretch tests
  • Contributors: mbusy

0.5.12 (2022-09-07)

  • Fix typo in README, remove old rst README
  • Merge pull request #153 from mbusy/ci CI migration to github actions
  • Migrate CI from TravisCI to Github actions, update the README accordingly (switching to markdown)
  • Merge pull request #152 from mbusy/naoqi-2.9 Naoqi 2.9 compatibility
  • Refactor the converters for compatibility
  • Refactor the audio event for compatibility
  • Add the getNaoqiVersion and isNaoqiVersionLesser to the driver helpers
  • Add the NaoqiVersion struct
  • Handle libqi 2.9 for the external registration, and update the launchfile accordingly
  • Add the driver authenticator class
  • Merge pull request #132 from mbusy/robust_movebase Robustify moveTo
  • Safer moveTo: only odom and base_footprint are accepted as references, and check if yaw is nan
  • Merge pull request #131 from ros-naoqi/testing_repo Update CI for melodic
  • melodic not allowed to fail anymore, indigo allowed
  • use testing repo
  • Contributors: Maxime Busy, Mikael Arguedas, Pandhariix, mbusy

0.5.11 (2020-01-08)

  • Merge pull request #129 from Pandhariix/melodic_compatibility Melodic compatibility
  • Merge pull request #126 from Pandhariix/lasers_range Parametrizable range for Pepper\'s lasers
  • Merge pull request #130 from Pandhariix/melodic_ci Adapt the README to the new CI
  • Update CI, add melodic-stretch
  • Adapt the README to the new CI
  • Merge pull request #128 from ros-naoqi/use_ici use industrial_ci instead of custom CI
  • send emails only for builds on master branch Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • use industrial_ci instead of custom CI Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Remove -Werror=deprecated-declarations to compile for melodic
  • Replace the joint and joint mimics boost shared pointers by urdf::JointMimicSharedPtr & urdf::JointSharedPtr
  • Include iostream to avoid cout not a member of std
  • Merge pull request #127 from ros-naoqi/remove_eol_lunar remove EOL ROS Lunar from travis config
  • remove lunar from readme as well Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • remove EOL ROS Lunar from travis config Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Parametrizable range for Pepper\'s lasers. Default range, 0.1 to 3.0 meters
  • Merge pull request #125 from Pandhariix/indigo_ci Use std::numeric_limits<double>::quiet_NaN for indigo compatibility
  • Merge pull request #124 from ros-naoqi/fix_orocos upgrade to make sure all package versions are consistent
  • Replace std::nan to std::numeric_limits<double>::quiet_NaN for the indigo compatibility
  • upgrade to make sure all package versions are comsistent Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #123 from ros-naoqi/rosdep_eol pass rosdep eol flag
  • pass rosdep eol flag Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #113 from Pandhariix/master Add velocities and torques to the joint states
  • Changing the maintainer
  • Add velocities and torques to the joint states
  • Merge pull request #112 from Pandhariix/hotfix/indigo_compilation Fix compilation error for indigo
  • Fix compilation error for indigo
  • Merge pull request #111 from Pandhariix/feature/stereo Feature/stereo
  • Print the detected version of the robot
  • Update boot_config to take into account the stereo
  • Update naoqi_driver to take into account robots with stereo
  • Add methods handling the camera parameters for the stereo cameras and call them in the getCameraInfo method
  • Update the CameraConverter class to take the stereo into account
  • Add the isDepthStereo method to the driver helpers
  • Add the RGB Stereo and Depth Stereo parameters to the vision definitions
  • Merge pull request #108 from kochigami/add-initializing-message
    • add naoqi_driver initialized message
    • modify the message of service and subscriber registering process
  • modify message of service and subscriber registering process like others
  • add naoqi_driver initialized message
  • Contributors: Kanae Kochigami, Maxime Busy, Mikael Arguedas, Natalia Lyubova, Pandhariix, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged naoqi_driver at answers.ros.org

No version for distro hydro. Known supported distros are highlighted in the buttons above.

naoqi_driver package from naoqi_driver repo

naoqi_driver

Package Summary

Tags No category tags.
Version 0.5.13
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 2022-09-13
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

Driver module between Aldebaran's NAOqiOS and ROS. It publishes all sensor and actuator data as well as basic diagnostic for battery, temperature. It subscribes also to RVIZ simple goal and cmd_vel for teleop.

Additional Links

No 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.

What it does

The naoqi_driver module is in charge of providing some bridge capabilities between ROS and NAOqiOS.

How it works

The naoqi_driver module is a NAOqi module that also acts as a ROS node. As there is no roscore on the robot, it needs to be given the IP of the roscore in order to be registered as a node in the ROS processing graph. 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.

For further information, you can consult the documentation (OUTDATED) here or build it:

cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/

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.

Launch

The driver can be launched using the following command:

roslaunch naoqi_driver naoqi_driver.launch nao_ip:=<ip> nao_port:=<port> network_interface:=<interface> username:=<name> password:=<passwd>

Note that the username and password arguments are only required for robots running naoqi 2.9 or greater

:warning: naoqi_driver for melodic and greater have to be used for robots running naoqi 2.9 and greater

Build status

ROS Distro Binary Status Source Status Github Build
Noetic Build Status Build Status ros-noetic-focal
Melodic Build Status Build Status ros-melodic-bionic
Kinetic passing passing ros-kinetic-xenial
CHANGELOG

Changelog for package naoqi_driver

0.5.13 (2022-09-14)

  • Merge branch \'noetic_update\'
  • Update package.xml for noetic compatibility
  • Update README, remove CI stretch tests
  • Contributors: mbusy

0.5.12 (2022-09-07)

  • Fix typo in README, remove old rst README
  • Merge pull request #153 from mbusy/ci CI migration to github actions
  • Migrate CI from TravisCI to Github actions, update the README accordingly (switching to markdown)
  • Merge pull request #152 from mbusy/naoqi-2.9 Naoqi 2.9 compatibility
  • Refactor the converters for compatibility
  • Refactor the audio event for compatibility
  • Add the getNaoqiVersion and isNaoqiVersionLesser to the driver helpers
  • Add the NaoqiVersion struct
  • Handle libqi 2.9 for the external registration, and update the launchfile accordingly
  • Add the driver authenticator class
  • Merge pull request #132 from mbusy/robust_movebase Robustify moveTo
  • Safer moveTo: only odom and base_footprint are accepted as references, and check if yaw is nan
  • Merge pull request #131 from ros-naoqi/testing_repo Update CI for melodic
  • melodic not allowed to fail anymore, indigo allowed
  • use testing repo
  • Contributors: Maxime Busy, Mikael Arguedas, Pandhariix, mbusy

0.5.11 (2020-01-08)

  • Merge pull request #129 from Pandhariix/melodic_compatibility Melodic compatibility
  • Merge pull request #126 from Pandhariix/lasers_range Parametrizable range for Pepper\'s lasers
  • Merge pull request #130 from Pandhariix/melodic_ci Adapt the README to the new CI
  • Update CI, add melodic-stretch
  • Adapt the README to the new CI
  • Merge pull request #128 from ros-naoqi/use_ici use industrial_ci instead of custom CI
  • send emails only for builds on master branch Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • use industrial_ci instead of custom CI Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Remove -Werror=deprecated-declarations to compile for melodic
  • Replace the joint and joint mimics boost shared pointers by urdf::JointMimicSharedPtr & urdf::JointSharedPtr
  • Include iostream to avoid cout not a member of std
  • Merge pull request #127 from ros-naoqi/remove_eol_lunar remove EOL ROS Lunar from travis config
  • remove lunar from readme as well Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • remove EOL ROS Lunar from travis config Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Parametrizable range for Pepper\'s lasers. Default range, 0.1 to 3.0 meters
  • Merge pull request #125 from Pandhariix/indigo_ci Use std::numeric_limits<double>::quiet_NaN for indigo compatibility
  • Merge pull request #124 from ros-naoqi/fix_orocos upgrade to make sure all package versions are consistent
  • Replace std::nan to std::numeric_limits<double>::quiet_NaN for the indigo compatibility
  • upgrade to make sure all package versions are comsistent Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #123 from ros-naoqi/rosdep_eol pass rosdep eol flag
  • pass rosdep eol flag Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
  • Merge pull request #113 from Pandhariix/master Add velocities and torques to the joint states
  • Changing the maintainer
  • Add velocities and torques to the joint states
  • Merge pull request #112 from Pandhariix/hotfix/indigo_compilation Fix compilation error for indigo
  • Fix compilation error for indigo
  • Merge pull request #111 from Pandhariix/feature/stereo Feature/stereo
  • Print the detected version of the robot
  • Update boot_config to take into account the stereo
  • Update naoqi_driver to take into account robots with stereo
  • Add methods handling the camera parameters for the stereo cameras and call them in the getCameraInfo method
  • Update the CameraConverter class to take the stereo into account
  • Add the isDepthStereo method to the driver helpers
  • Add the RGB Stereo and Depth Stereo parameters to the vision definitions
  • Merge pull request #108 from kochigami/add-initializing-message
    • add naoqi_driver initialized message
    • modify the message of service and subscriber registering process
  • modify message of service and subscriber registering process like others
  • add naoqi_driver initialized message
  • Contributors: Kanae Kochigami, Maxime Busy, Mikael Arguedas, Natalia Lyubova, Pandhariix, S

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

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

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged naoqi_driver at answers.ros.org