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, Théo Magoudi, Victor Paléologue, Maxime Busy

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, Séverin Lemaignan

0.5.10 (2018-02-16)

• disable logs as default (reference #68) (#88)
• Missing tf2 include and tf2 exception type (#103)
  • Add missing include tf2_ros/buffer.h
  • Catch tf2::TransformException
• add services for get and set language (#87)
• C-style comments are not syntactically correct in JSON (#98)
  • C-style comments are not syntactically correct in JSON
• Remove Jade from Travis description (#95)
  • Remove Jade from Travis description and CI matrix
  • Correct badges according to the Travis matrix modification, and add Debian stretch badge
• Adding a maintainer
• Ci (#94)
  • Add .travis.yml
• Adding a warning for VGA resolution for depth camera (#93) Adding a warning for VGA resolution for depth camera
• Merge pull request #92 from Pandhariix/add_joint_limits Add joint limits to the diagnostics
• Start adding joints limits to the diagnostic Add double layered float vector converter method Add the joints limit map, and add the joints limits to the diagnostic message
• Update gitignore
• Fix typo in naoqi_driver.hpp
• Merge pull request #85 from PacoDu/fix_node_name_empty Fix node name empty related to pepper_robot issue #35
• Update naoqi_driver.cpp Error while merging, setPrefix removed.
• Fix node name issue #35
• Contributors: Dupont Paco, Esteve Fernandez, Kanae Kochigami, Maxime Busy, Natalia Lyubova, Paco Dupont, Shane Loretz, Surya Ambrose

0.5.9 (2016-11-08)

• -Vincent Rabaud as a maintainer, +Natalia Lyubova
• Merge pull request #75 from kochigami/rename-tactile-touch-to-head-touch rename tactile touch to head touch
• rename boot_config name of hand & head
• rename tactile touch to head touch
• Merge pull request #63 from kochigami/add-hand-touch-sensor-input-to-touch-programs Add hand touch sensor input to touch event and converters
• add hand touch sensor input to touch programs
• Merge pull request #74 from kochigami/try-depth-raw kRawDepthColorSpace for depth image
• Merge pull request #36 from laurent-george/adding_odom_frame Adding odom topic to the bridge
• fix(odom): update code based on comment in pull request
• Adding odom topic to the bridge
• Merge pull request #72 from furushchev/increase-joint-state-freq [share/boot_config.json] increase frequency for publishing joint_states
• [share/boot_config.json] increase frequency for publishing joint_states
• Update package.xml
• kRawDepthColorSpace for depth image
• Contributors: Kanae Kochigami, Karsten Knese, Laurent GEORGE, Mikael Arguedas, Natalia Lyubova, Vincent Rabaud, Yuki Furuta, lgeorge

0.5.8 (2016-05-19)

• Update maintainership
• Fix broken compilation with libqi-2.5 (#67) -std=gnu++11 is not mandatory as this flag will be added when importing libqi (https://github.com/ros-naoqi/libqi-release/commit/c26f57e25326c9d3447ae7113818a474994e5544). naoqi_driver should now work with libqi2.3 and 2.5
• Contributors: Surya Ambrose

0.5.7 (2016-02-04)

• Fix termination issues (#62)
  • Fix deadlock in audio termination Calling subscribe or unsubscribe while the callback is being called is already protected on naoqi side. So no need to protect it on the bridge side, this is what previously led to a deadlock. We only need mutex protection on configuration variable (publishing, recording, logging) and also make sure calling subscribe and unsubscribe at the same time is not possible (even though this is also protected in naoqi). Change-Id: Iae604c047046fec9e24832dd4df5017ff4ae724f
  • Do not use qi::import for retrieving naoqi_driver Change-Id: I1443ce10576f10ceda5041139c90a3df2e65f043
  • unsubscribe each events
  • Fix stopService being called twice
  • Do not create info converter if not necessary
  • Fix segfault on termination
• #58 is not compatible with previous version... (#60)
• Add tactile and bumper in boot_config.json (#59)
• fix when no name space is found (#58)
• use template for TouchEventRegister
• use template class(TouchEventConverter) in conveerters/touch.{cpp,hpp}
• add touch event and converters
• Contributors: Kei Okada, Surya Ambrose, Vincent Rabaud

0.5.6 (2015-12-27)

• register audio_enabled only when audio is set enabled
• launch/naoqi_driver.launch : support nao_port
• fixing body temperature for Romeo
• missing romeo.urdf
• update to the latest URDF
• call startPublishing instaed of set true to publish_enabled_
• update to the latest urdf
• add subscribers/speech.cpp
• converters/joint_state.cpp: support mimic joint tf publisher
• Contributors: Karsten Knese, Kei Okada, Surya Ambrose, Vincent Rabaud, nlyubova

0.5.5 (2015-08-27)

• fix correct loading of urdf
• Contributors: Karsten Knese

0.5.4 (2015-08-27)

• remove useless include
• add V Rabaud as a maintainer
• Contributors: Vincent Rabaud

0.5.3 (2015-08-26)

• fix: advertise service in global ns
• Contributors: Karsten Knese

0.5.2 (2015-08-26)

• build and run dependency v004 for bridge msgs
• fill robot config data
• implement robot config service call
• change to latest robotinfo msg
• add sessionptr to service
• fill the service to get the robot info
• Merge pull request #38 from antegallya/patch-1 Fix repo url in install.rst
• Fix repo url in install.rst
• Merge pull request #37 from antegallya/patch-1 Fix a code-block in install.rst
• Fix a code-block in install.rst
• rename service topic to ros standard
• add license declaration
• add support for ros services
• update doc
• enhance error message in camera converter
• naoqi_driver_node is an executable not a library
• Contributors: Karsten Knese, Pierre Hauweele, Vincent Rabaud

0.5.1 (2015-08-11)

• rename dump_enabled to log_enabled
• introduce prefix to naoqi driver c'tor
• switch to boost program options
• do not set the log level if it has not changed
• get a more generic way of setting the log level
• publish to diagnostics as it should be
• respect the ROS log level
• cleanup main
• update rviz configuration
• extend teleop for set_angles
• exclude driver helper to cpp for one-call only
• cleanup battery diagnostics
• remove max velocity
• Merge pull request #30 from laurent-george/patch-1 fix git repo url
• fix git repo url it's a _ not a -
• change doc for renaming to naoqi driver
• renamed files for naoqi_driver
• update doc to correct renaming
• update doc to correct renaming
• add stiffness and fix battery status
• Contributors: George Laurent, Karsten Knese, Vincent Rabaud
• remove legacy code
• fix typo in package.xml
• rename package to naoqi_driver
• remove alrosbridge prefix and cleanup
• fix typo in cmakelist
• Fixes for c++11
• remove naoqi_msgs includes
• fix for correct header include of msgs
• remove deprecation warning
• Contributors: Guillaume JACOB, Karsten Knese, Vincent Rabaud

0.1.2 (2015-07-15)

• update start doc for v1.2
• lower default values for camera
• add bottom camera
• create launch file for running rosbridge
• remove ros args from cmdline
• nao basefootprint
• remove ros args
• main: support 2nd argument as network interface
• ros_env.hpp write error message when network interface is not found
• include install instructions for ROS
• Contributors: Karsten Knese, Kei Okada, Vincent Rabaud

0.1.1 (2015-06-25)

• update the Pepper URDF
• add optical frame
• Contributors: Karsten Knese, Vincent Rabaud

0.1.0 (2015-06-18)

• devel-space compatibility
• move application files to app folder
• Add methods to remove bags presents on folder
• Add an helper function to check size taken by bags
• Add an helper function to check presents bags on folder
• rename urdf
• add romeo.urdf
• update and rename files to be consistent with description
• update doc for rosrun
• updated roscore option in doc
• remove test folder
• Contributors: Karsten Knese, Marine CHAMOUX, Vincent Rabaud

0.0.7 (2015-06-02)

• correct filepath lookup for catkin and qibuild
• hotfix: do not cast 'getenv' return to string when it's null
• hotfix: allow to register correctly a converter on the fly
• Contributors: Karsten Knese, Marine CHAMOUX, zygopter

0.0.6 (2015-05-28)

• add install rule for the module file
• Contributors: Vincent Rabaud

0.0.5 (2015-05-24)

• clean seperation between catkin and qibuild
• adjust sdk prefixes with cmake_prefix
• fix devel problems and rename lib
• set sdk prefix to devel space
• add a file to register a NAOqi module
• Contributors: Karsten Knese, Vincent Rabaud

0.0.4 (2015-05-17 22:48)

• get code to compile with catkin
• Contributors: Vincent Rabaud

0.0.3 (2015-05-17 21:22)

• get code to compile with catkin
• Contributors: Vincent Rabaud

0.0.2 (2015-05-17 14:08)

• bump version
• get code to compile with catkin
• bugfix: cyclic buffer for log
• bugfix: apply config file
• replace tf helpers with tf2
• remove legacy code
• introduce a config json format for configuring converters
• Merge pull request #7 from zygopter/master Bufferize & minidump event converters (as audio)
• Hotfix: Put throwing function inside the try/catch
• Hotfix: use set_capacity instead of resize for circular buffer
• Hotfix: allow to record event converters in 'startRecordingConverters'
• Hotfix: put checker condition to true when record is started
• Better synchronazation of data for minidump
• Use a circular buffer instead of a simple list for optimization
• Add beggining time of minidump call for event synchronization
• Hotfix: block buffer writing to have synchronized data in minidump
• Hotfix: resize correctly the buffer when changing the duration
• Remove spamming logs
• Hotfix: set buffer duration for event converters
• Add prefix name for ROSBag in minidump
• Be able to write the event converter's buffer in miniDump
• Be able to bufferize event converters
• remove while loop in startConverter&miniDump
• Merge branch 'devel' (early part) Conflicts: src/alrosbridge.cpp
• introduce time lapse measure
• configuration booleans for default pub
• try lock for write_mutex
• Merge pull request #6 from zygopter/master Correct Buffersize calculation
• Use a static const variable instead of a #define
• Add a getter method for buffer duration
• Set a global variable for default buffer duration
• Hotfix: set correct size for buffer
• Allow to start the application automatically
• Merge pull request #5 from zygopter/master hotfix: bad path for header in test
• hotfix: bad path for header in test
• Merge pull request #4 from zygopter/master Refactoring of audio converter to manage publishing & recording
• Merge pull request #3 from GuillaumeJacob/master fix cameraInfo for infrared camera
• Refactor audio converter to manage to record it
• Rename event class and move to event folder Delete unused files
• Split reset function into publisher & recorder for events
• fix cameraInfo for infrared camera
• Merge pull request #2 from Karsten1987/master no roscore dependency for recording
• Merge pull request #1 from zygopter/master Update documentation for installation
• Change 'git clone' by 'qisrc add' to download & reference projects in qibuild
• hotfix: setting timestamp
• trigger init function also with given roscore ip
• api change: start rosloop without rosmaster initialization
• exclude TransformBroadcaster into a shared_ptr this allows to create a joint state publisher without a need to create a nodehandle
• Add missing dependency in install.rst
• take rostime.now for camera to sync with other publisher
• Fix wrong project name in rst configuration file
• Add gitignore file
• remove console bridge dependency
• Initial commit
• Add link from rst doc to doxygen doc
• Update Doxyfile
• README points to the doc URL
• Use RST instead of markdown
• Doc test
• add support for Doxygen
• add instructions on how to build the docs
• fix: correct licence agreement
• adjust camera msg timestamp to alimage timestamp
• change colorspace to rgb8 for front camera
• Merge branch 'master' into 'master' Master
• add color for better understanding
• bugfix on run script for linux64
• Add dependency for linux64
• Add qicli call function to choose converters for minidump
• Change message output for minidump and stop record
• support for IR camera
• hotfix: stabilize publisher frequence
• give the master ip directly via commandline args
• Fix doc line
• Prepare files for doxygen documentation
• Move test includes into test/ (so they are not considered by doxygen)
• Merge branch 'master' into 'master' Master
• Factorize the code to retrieve anyvalues
• Hotfix: register callback to bufferize for memory converters
• Add test for minidump
• Add a setter function to choose the ROSbag duration for minidump
• Merge branch 'doc' into 'master' Doc
• Merge branch 'master' into 'master' Master
• Hotfix: catch exception when key does not exist in ALMemory && return boolean
• Doc fix
• Add links to go back to main menu
• Final touch
• Add topics page
• Add troubleshooting, next step and other usage pages
• Fix wrong definition of getMasterURI in api.rst
• Small fixes
• Add API page
• Add getting started page
• Create the index, add the howto install page
• Simplify README.rst, and point to the doc/ folder
• Avoid segfault if a value retrieval fails
• Merge branch 'compilation_fix' into 'master' Compilation fix
• Fix compilation issue after toolchain update
• Merge branch 'mc/event' into 'master' Mc/event
• Move 'getDataType' function to helpers.hpp
• Support no usage of ALValue
• support new recorder API
• remove useless debbug logs
• Switch in respect to data type of event
• Improve life functionement of event registration
• Refactor test due to library changes
• Check if the process is started
• Add a qicli function to register a memory converter
• Add mutexes in EventRegister
• Add a generic virtual class for event converter
• Add privacy to internal functions && delete test function
• Add test for new event ros bridge
• New class to deal with memory events
• Merge branch 'mc/devel' into 'master' Mc/devel
• Use optional custom frequency for buffer data
• Fix test
• Add qicli call function to write a ROSbag with the last 10s data buffer
• Register LOG callback to 'bufferize' recorder's function
• recorder: Add function to write buffer in a ROSbag
• recorder: Add bufferize function for camera & new buffer frequency argument in constructor
• recorder: Add a function to bufferize converter's data over the last 10 sec
• recorder: Add frequency argument in recorder reset function
• recorder: Check if vector is empty before writing a TF message on ROSbag
• recorder: Check message timestamp to write it on ROSbag
• Change message type for Info converter
• unixify the README file
• Get rid of the qimessaging warning
• Update alvisiondefinitions.h with latest available doc (this fix #31)
• Remove useless comment
• Add security when getting image (in case no image is retrieved)
• Merge branch 'sa/no_alvalue' into 'master' Sa/no alvalue
• Remove undesirable dependency
• Do not use ALValue when guessing memory key type anymore
• Do not use ALValue when retrieving memory list anymore
• Fix indexing error
• Do not use ALValue when retrieving audio anymore
• Do not use ALValue anymore to retrieve the cameras
• Merge branch 'mc/devel' into 'master' Mc/devel
• recorder: be consistent between publisher topic & recorder topic
• Remove useless files (issue #28)
• remove alvalue includes
• use proper string conversion
• Fix #29: wrong rviz config for nao
• Merge branch 'sa/devel' into 'master' Sa/devel
• Audio converter (never stops)
• Merge branch 'mc/devel' into 'master' Mc/devel
• Update README
• Add timestamp in memory list message
• Update README.rst to add explanations on converters/recording
• Merge branch 'sa/info' into 'master' Sa/info
• Make the info publisher set the robot_description
• Reset the list of publishers when resetting sonar publisher node
• Useless calls
• Normalize log publisher init
• Merge branch 'sa/recorder_cleanup' into 'master' Sa/recorder cleanup
• Recorder clean up
• Merge branch 'mc/devel' into 'master' Mc/devel
• Catch error when getting typed data from ALMemory in all converters
• Catch error when getting typed data from ALMemory in Info & MemoryBoolConverter
• Merge branch 'mc/devel' into 'master' Mc/devel
• hotfix: delete float publisher from CMakeList
• Fix test compilation
• Merge branch 'sa/pub_cleanup' into 'master' Sa/pub cleanup I know it is scary, but this actually reduces the code a lot and it still works.
• Remane BasePublisher in BasicPublisher
• Big cleanup of publishers (next)
• Big cleanup of publishers
• Merge branch 'mc/devel' into 'master' Mc/devel
• hotfix: use toolchain custom ros msgs include
• Fix CMakeList.txt
• Remove include files (integrated in the toolchain)
• Info conv/pub/rec
• Merge branch 'sa/diagnostics_recorder' into 'master' Sa/diagnostics recorder
• Add diagnostics recorder
• Merge branch 'sa/diagnostics_converter_and_fix' into 'master' Sa/diagnostics converter and fix
• Remove useless include
• Remove useless call to reset
• Add diagnostics converter/publisher
• Fix naming error
• remove alvalue dependencies still exist in camera
• Merge branch 'sa/include' into 'master' Sa/include Remove useless includes, reorganize them all
• Remove useless include in main src, move the others to minimize their scope
• Remove useless include in converter, move the others to minimize their scope
• Remove useless include in tool, move the others to minimize their scope
• Remove useless include in publisher, move the others to minimize their scope
• Remove useless include in recorder, move the others to minimize their scope
• Cleaning: remove useless include in subscribers
• Prettify #include in subscribers
• Prettify the #include in recorders
• Prettify the #include in publishers
• Prettify the #include in converters
• Merge branch 'sa/setMasterUri' into 'master' Sa/set master uri
• Move getRobotDescription into tools/
• Set /robot_description when setting Master URI
• Make JS Converter non-dependent from the Node handle
• Reset tf broadcaster when JS publisher is reset
• Only register new converters if required
• Better mutex and proper stop of the ROS loop when changing master URI
• Merge branch 'mc/devel' into 'master' Mc/devel
• Update README.rst for function 'registerMemoryConverter' changes
• Add bool msg for memory converter
• Add namespace for DataType enum
• Update README.rst to add new API function
• Add templated function to register memory converter
• delete naoqi_bridge messages
• Add function to get data type from memory_key && add frequency argument
• Only publish/record msgs when the memory data is valid
• Use specific stamped msg for memory converters
• Return max() when there is no data in ALMemory
• Add new API function 'registerMemoryConverter'
• add test for register memory key converter
• add enum for memory data type
• add converters for int/float/string memory key
• Merge branch 'sa/conv_pub_rec_sub_factorize' into 'master' Factorization of conv/pub/rec/sub init Put everything that is required to properly initialize sub/pub/rec/conv elements in the corresponding register function
• Remove useless init function
• Move call to sub.reset
• Factorize registration code
• Factorize recorder reset
• Factorize publisher reset
• Remove new memory converters initialization (useless now)
• Factorize conv.reset() in registerConverter()
• Init the converters as soon as they are registered
• Merge branch 'mc/recorder' into 'master' Mc/recorder
• hotfix: check first list of topics to open a bag only if at least one topic is available
• Merge branch 'devel' into 'master' Devel
• Merge branch 'documentation' into 'devel' Documentation
• Update README
• Merge branch 'sa/hotfix' into 'master' Sa/hotfix
• Change module name in Documentation
• Rename alros_bin to alrosbridge_bin in run.sh
• Add API description in README
• Merge branch 'devel' Conflicts: include/alrosbridge/alrosbridge.hpp manifest.xml src/alrosbridge.cpp
• rename alsrosconverter to alrosbridge
• Merge branch 'sa/mem_list_improvement' into 'devel' Sa/mem list improvement
• Accept bool ALValue (convert them in Int)
• Merge branch 'mc/recorder' into 'devel' Mc/recorder
• Rename API function to be consistant
• Merge branch 'mc/recorder' into 'devel' Mc/recorder
• Rename API function 'startRecordTopics' to 'startRecordConverters' Conflicts: src/alrosbridge.cpp
• Merge branch 'sa/mem_list_doc' into 'devel' Sa/mem list doc
• Add doc in README about mem key list publication
• hotfix :-)
• Merge branch 'sa/list_of_mem_keys' into 'devel' Sa/list of mem keys
• Parse the JSON file containing the mem key list and give it to the converter
• Safely return from addMemoryConverters if node handle is not initialized
• Add a recorder for the list of memory keys
• Publish the memory list
• Instanciate a memory list converter (file parsing mocked up)
• Fix reset message at each cycle
• Fix string in message creation in converter
• Add memory list publisher
• Memory list converter
• Add new naoqi messages to manage memory values list
• Add new API method addMemoryConverters (does not do anything for now)
• Re-establish the truth
• Avoid warning message from qimessaging spam
• Merge branch 'mc/devel' into 'devel' Mc/devel
• Recorder: rename topics in ROSbag as publishers rostopic
• Merge branch 'mc/devel' into 'devel' Mc/devel
• Recorder: add sonar and laser
• Update package version
• Merge branch 'sa/new_concept' into 'devel' Sa/new concept
• Merge branch 'sa/concept_test' into 'devel' Testing the change of concept
• Change concept to store shared_ptr instead of objects themselves
• Change converters constructors to allow construction through make_shared
• Test new concept style
• merge commit
• rviz config with laser and sonar
• hotfix: no callall for empty action vector
• sonar support
• Merge branch 'mc/devel' into 'devel' Mc/devel
• remove unused functions from converter concept
• Recorder: use colors defined in tools
• Recorder: add coloured logs for recording functions
• Recorder: implement startRecordtopics API function
• Merge branch 'mc/devel' into 'devel' Mc/devel
• Return a string in stopRecord function
• hotfix: hidden improvement
• Change converter's name
• Add 2 getters for converter's name and subscribed publisher's name
• Merge branch 'sa/devel' into 'devel' Sa/devel Small fixes
• No laser for Nao
• Fix spelling mistake
• Remove old calls to publishers replaced by converters
• Merge branch 'sa/devel' into 'devel' IMU recorder
• Merge branch 'hotfix' into 'devel' Hotfix
• hotfix: check current path to add it to the bag name
• Remove useless inclusion (already included in another header)
• Add Imu recorder to the bridge
• IMU recorder
• Remove useless ";"
• Merge branch 'mc/devel' into 'devel' Mc/devel
• Proper way to get relative share folder path && always reload description from file
• bugfix: initialize tf_buffer before converter
• odometry
• Merge branch 'bug26/bagpath' into 'devel' Bug26/bagpath
• Fix #26: Use an absolute path to store the bag
• Merge branch 'sa/devel' into 'devel' Fix #25
• Fix #25: log spam due to implicit conversion from ALValue to float vector
• Merge branch 'sa/dev' into 'devel' Sa/dev
• Add IMU_base for Pepper
• Rename IMU in IMU_torso
• Do not start depth camera if using a Nao
• Converter and publisher for IMU
• Merge branch 'mc/devel' into 'devel' Mc/devel
• Delete spamming logs
• Merge branch 'mc/devel' into 'devel' Mc/devel
• hotfix: install share folder for runtime loading
• hotfix: Check if sleep time is positive initially the pubs are not scheduled in the future so the time to sleep can be negative, which resolves in infinity Conflicts: src/alrosbridge.cpp
• recorder: first check if rosbag is open before writing
• hotfix: install share folder for runtime loading
• hotfix: Check if sleep time is positive initially the pubs are not scheduled in the future so the time to sleep can be negative, which resolves in infinity
• Update README.rst
• Merge branch 'sa/dev' into 'devel' Sa/dev Some small fixes
• Merge branch 'master' into 'master' Master
• rename 'start/stop' into 'startPublishing/stopPublishing'
• Update README.rst
• Update README.rst to have it without building it
• Factorize isSubscribed function Conflicts: src/publishers/info.hpp src/publishers/laser.hpp src/publishers/publisher_base.hpp
• Avoid useless copy
• Remove useless ;
• Package project into an app c++
• correct camera info frames and publisher
• first version of record and publish via callback
• sonar converter
• laser converter
• Merge branch 'mc/devel' into 'devel' Mc/devel
• recorder: bugfix #24 recorder base class does not implement all functions
• Package project into an app c++
• Merge branch 'mc/devel' into 'devel' Mc/devel
• recorder: add tests for new recorder's API
• recorder: implement data recording in main class Conflicts: src/alrosbridge.cpp
• recorder: add methods in 'converter' to know if recording is enabling for a converter instance
• recorder: add concrete recorder instances for each converters
• recorder: add a recorder concept class to instanciate concrete recorders
• Merge branch 'devel' of gitlab.aldebaran.lan:kknese/alrosconverter into mc/devel Conflicts: CMakeLists.txt include/alrosbridge/alrosbridge.hpp src/alrosbridge.cpp src/publishers/joint_state.cpp src/publishers/joint_state.hpp test/recorder_test.cpp
• camera and joint states
• camera converter callback
• camera converter callback
• test converters
• refactoring cleanup
• recorder namespace
• recorder: add a new instanciation of 'write' method for vector<geometry_msgs::TransformStamped> messages
• recorder: clean test recording in alrosbridge.cpp
• Revert "Recorder: clean recorder files from master branch" This reverts commit 00f2d313b96308f2256dc001af9766d3f417578d. Conflicts: include/alrosbridge/alrosbridge.hpp
• Revert "Recorder: remove unuseful dependency" This reverts commit 4f0e7e677ca241c0d45aa053b4fe3e6cb150c0d2.
• Stop publishing thread before removing the publishers and subscribers Conflicts: src/alrosbridge.cpp
• Register callback on qi::application::atStop to handle variable's destruction before run() returns
• demo config
• Merge branch 'master' into 'master' Master
• Stop publishing thread before removing the publishers and subscribers
• Register callback on qi::application::atStop to handle variable's destruction before run() returns
• camera converter
• initial refactoring, moving files, changing baseclass
• get moveto to be asynchronous
• replace tf listeners by a shared tf buffer
• Merge branch 'master' into 'master' Master
• Recorder: remove unuseful dependency
• Recorder: clean recorder files from master branch
• Recorder: Add public method to record by topics
• Recorder: Renaming in recorder & test recording by topics
• get moveto to be asynchronous
• replace tf listeners by a shared tf buffer
• rm consolebridge dependency
• rm consolebridge dependency
• Merge branch 'sambrose/master' into 'master' Sambrose/master Some small fixes to avoid segfault or nasty stuff when leaving the program.
• Avoid segfault if setting the master URI, but no task is scheduled
• Do not use unlock, scope the mutex
• Avoid segfault when quiting without having set a Master URI
• add refactoring test
• first test for callback refactor
• Merge branch 'master' into 'master' Master
• Recorder: Add time to bag name
• Recorder: Add a basic test for recorder class
• Recorder: First draft of a ROSbag recorder API
• use latest urdf file
• cleaner NAO - Pepper separation in Publisher registration
• remove useless checks as we can now support proper latching
• properly schedule publishers in case of ROS_MASTER_URI reset.
• add boost callback test
• basefootprint publisher for nao add nao_joint_states.cpp
• fix time stamp
• add pepper rviz config file
• exclude odometry from joint_state_publisher

• Merge branch 'sambrose/master' into 'master' Automatically deploy ros from toolchain Hey ! This is a very small MR to: 1) Test the MR behavior when using branches on the same project

  2) To share my great progress: allow the ros toolchain to be deployed to the robot just by adding a word :D Hope you will like it \^\^

• Add ros dependency to qiproject This will automatically deploy ros package on the robot when using qibuild deploy
• Merge branch 'master' into 'master' Master Fix issue #11
  • Correct frame transform in moveto
  • Add correct yaw orientation to moveto command
• Correct tf2 time lookup in moveto && Add orientation to moveto command
• add NAO rviz config file
• bugfix: publish correct depth_camera encoding
• reduce default CPU usage by not using a tf2 listener if no subscriber
• Do not advertise compressed depth topics for non depth images This fixes #3
• remove verbosity in laser
• check against AL::kDepthCamera instead of 2
• use camera with correct frequency removes hardcoded 20
• bugfix: correct parent path
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter
• load urdf from file if no rosparam
• start depth camera only on pepper
• Merge branch 'update_doc' into 'master' Update doc
• Moving section compiling into Getting started. It is easier to read the documentation this way: In getting start it's straightforward no need to go to end of page to understand how to install the ros bridge.
• fix correct robot id
• fix runtime problem
• update the todos
• switch to tf2
• first import of the current naoqi msgs
• add a basic way of importing messages and having them be part of our headers
• update README
• clean msg folder
• update doc for Android and misc clean-ups
• add a method to set the netowork interface too
• add proper timestamps for the images / camera info
• Revert "remove a memory copy for images" This reverts commit 72b02187b48bafcfdee7eaa889d0b185bec57793.
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter Conflicts: CMakeLists.txt src/alrosbridge.cpp
• 2d nav goal (rviz) moveto support
• better handling of potential log explosion
• add a log bridge
• fix abusive rate for info
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter Conflicts: CMakeLists.txt
• support for teleop subscriber
• quickfix: return correct robot string
• add the first draft of an info module
• fix compilation
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter
• quickfix: return correct robot name
• quickfix: remove whitespaces in string compare
• fix crashes when resetting the master URI
• properly call the subscribe/unsusbcribe methods for sonar
• increase laser frequency to 10hz
• limit laser range to 1.5 to eliminate noise
• correct odometry frame
• motion twist subscriber
• fix camera frames so that they are the optical frame
• use a proper raw topic
• only publish lasers when on Pepper
• add a sonar publisher
• add a way to know the ID of the robot and unify publisher constructors
• add a bit more specs
• clean reset logging
• remove a memory copy for images
• disabled verbosity in lasers
• unregister properly from VideoDevice when quitting or resetting
• initial support for laser scan
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter Conflicts: src/publishers/camera.cpp
• publish odom frame
• expose name in print statement
• fix overlap of camera_infos
• use proper image_Transport API and show loadable plugins
• fix install of package with latest qibuild
• update docs
• first draft of diagnostics A proper solution would publish al ldiagnostics at different rates and use an aggregator as usually done. We will check with the CPU usage whether this is possible
• Merge branch 'camera_info' Conflicts: src/publishers/camera.cpp src/publishers/camera.hpp
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter
• minimize the memory copies for the image
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter Conflicts: include/alrosbridge/alrosbridge.hpp src/alrosbridge.cpp
• implement depth image with camera info
• quickfix: resolve segfault in schedule publisher hint: prevent a re-alloc of memory in all_publisher variable since this leads to invalid pointer
• const pointer implementation
• fix a crash with undefined pointer
• use the create_module macro as it should be
• update docs
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter Conflicts: include/alrosbridge/alrosbridge.hpp include/alrosbridge/publisher/publisher.hpp
• add license and public interface doc
• add license and public interface doc
• rename project name to alrosbridge
• rename external service entry point
• remove legacy code
• quickfix: change CMake for filechange
• enable all default publisher
• renamend autoload entry point
• remove constructor with nodehandle parameter
• expose public interface headers in include folder
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter
• small cleanups
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter
• Merge branch 'master' into 'master' clean base classes This will be useful for diagnostics too: I don't want to implement yet another base class there.
• cleanup: remove unused interface
• clean base classes
• quick fix: enable publishing in alrosbridge
• Merge branch 'master' into 'master' allow for different publisher frequencies
• allow for different publisher frequencies
• Merge branch 'camera_publisher'
• remove constructor with nodehandle no reset by initialization
• bugfix: single reset/init point
• remove verbosity in publishing
• added a bgr8 front camera publisher
• add precisions about topics
• update doc
• update documentation
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter
• update README
• trigger ros-init without siginthandler
• add basic doc
• basic naoqi2 module with start/stop publising has a minor bug of destroying the module
• main.cpp for external binary execution
• exclude naoqi autoload registration
• implement operator==()
• introduce crtp
• send dynamic float array for benchmark
• updated readme
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter
• add robot state publisher in code
• publishing joint states in global namespace
• add test_primitives
• add naoqi agnostic ros code for benchmarking
• add another TODO
• update README
• Merge branch 'master' of gitlab.aldebaran.lan:kknese/alrosconverter
• code cleanup
• exclude static ros function in ros_env.hpp
• added joint_state_publisher
• increase publish rate to 15
• use linux64 toolchain pkg for local compile
• add a README file
• basic bridge example for int and strings
• basic publisher example (string, int)
• support for multiple publishers
• base structure of bridge concept
• adding simple publisher
• initial commit
• Contributors: Guillaume JACOB, Karsten KNESE, Karsten Knese, Laurent GEORGE, Marine CHAMOUX, Surya AMBROSE, Surya Ambrose, Vincent Rabaud, sambrose, zygopter