nao_dcm_robot repository

Repository Summary

Checkout URI https://github.com/ros-naoqi/nao_dcm_robot.git
VCS Type git
VCS Version master
Last Updated 2017-11-16
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
nao_dcm_bringup 0.0.5

README

nao_dcm_robot

DCM stack integrating tools to control NAO robot

Installation

  • install dependencies

    sudo apt-get install ros-indigo-nao-robot ros-indigo-nao-meshes ros-indigo-nao-control ros-indigo-naoqi-dcm-driver
    
  • then, install nao_dcm_bringup or compile it from source

    sudo apt-get install ros-indigo-nao-dcm-bringup
    
  • optionally, install nao_moveit_config

    sudo apt-get install ros-indigo-nao-moveit-config
    

How to use it

Trajectory control

To command your robot remotely with ros control :

  • first, wake up your robot and choose a stable pose

  • start the DCM Bringup providing the robot's IP

    roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch robot_ip:=<ROBOT_IP>
    
  • you can control the robot using Moveit! (if installed previously)

    roslaunch nao_moveit_config moveit_planner.launch
    
  • or you can send a trajectory to the desired controller (actionlib)

    rosrun actionlib axclient.py <name of the goal topic of the action server>
    

example:

    rosrun actionlib axclient.py /nao_dcm/LeftArm_controller/follow_joint_trajectory/goal

To choose the controllers you want to load at launchtime you have to modify nao_control/launch/nao_control_trajectory.launch To know the list of controllers implemented please refer to : nao_control/config/nao_trajectory_control.yaml You can start and stop the ros-controllers using the rqt plugin ControllerManager

Position control

To command joints positions via ROS:

  • start the DCM bringup proving your robot's IP (be aware that the package will stop Autonomous Life on your robot):

    roslaunch nao_dcm_bringup nao_dcm_H25_bringup_position.launch robot_ip:=<ROBOT_IP>
    
  • send a position to the desired controller, for example

    rostopic pub /nao_dcm/LWristYaw_position_controller/command std_msgs/Float64 "data: 0"
    

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-naoqi/nao_dcm_robot.git
VCS Type git
VCS Version master
Last Updated 2017-11-16
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
nao_dcm_bringup 0.0.5

README

nao_dcm_robot

DCM stack integrating tools to control NAO robot

Installation

  • install dependencies

    sudo apt-get install ros-indigo-nao-robot ros-indigo-nao-meshes ros-indigo-nao-control ros-indigo-naoqi-dcm-driver
    
  • then, install nao_dcm_bringup or compile it from source

    sudo apt-get install ros-indigo-nao-dcm-bringup
    
  • optionally, install nao_moveit_config

    sudo apt-get install ros-indigo-nao-moveit-config
    

How to use it

Trajectory control

To command your robot remotely with ros control :

  • first, wake up your robot and choose a stable pose

  • start the DCM Bringup providing the robot's IP

    roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch robot_ip:=<ROBOT_IP>
    
  • you can control the robot using Moveit! (if installed previously)

    roslaunch nao_moveit_config moveit_planner.launch
    
  • or you can send a trajectory to the desired controller (actionlib)

    rosrun actionlib axclient.py <name of the goal topic of the action server>
    

example:

    rosrun actionlib axclient.py /nao_dcm/LeftArm_controller/follow_joint_trajectory/goal

To choose the controllers you want to load at launchtime you have to modify nao_control/launch/nao_control_trajectory.launch To know the list of controllers implemented please refer to : nao_control/config/nao_trajectory_control.yaml You can start and stop the ros-controllers using the rqt plugin ControllerManager

Position control

To command joints positions via ROS:

  • start the DCM bringup proving your robot's IP (be aware that the package will stop Autonomous Life on your robot):

    roslaunch nao_dcm_bringup nao_dcm_H25_bringup_position.launch robot_ip:=<ROBOT_IP>
    
  • send a position to the desired controller, for example

    rostopic pub /nao_dcm/LWristYaw_position_controller/command std_msgs/Float64 "data: 0"
    

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/ros-naoqi/nao_dcm_robot.git
VCS Type git
VCS Version master
Last Updated 2017-11-16
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
nao_dcm_bringup 0.0.5

README

nao_dcm_robot

DCM stack integrating tools to control NAO robot

Installation

  • install dependencies

    sudo apt-get install ros-indigo-nao-robot ros-indigo-nao-meshes ros-indigo-nao-control ros-indigo-naoqi-dcm-driver
    
  • then, install nao_dcm_bringup or compile it from source

    sudo apt-get install ros-indigo-nao-dcm-bringup
    
  • optionally, install nao_moveit_config

    sudo apt-get install ros-indigo-nao-moveit-config
    

How to use it

Trajectory control

To command your robot remotely with ros control :

  • first, wake up your robot and choose a stable pose

  • start the DCM Bringup providing the robot's IP

    roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch robot_ip:=<ROBOT_IP>
    
  • you can control the robot using Moveit! (if installed previously)

    roslaunch nao_moveit_config moveit_planner.launch
    
  • or you can send a trajectory to the desired controller (actionlib)

    rosrun actionlib axclient.py <name of the goal topic of the action server>
    

example:

    rosrun actionlib axclient.py /nao_dcm/LeftArm_controller/follow_joint_trajectory/goal

To choose the controllers you want to load at launchtime you have to modify nao_control/launch/nao_control_trajectory.launch To know the list of controllers implemented please refer to : nao_control/config/nao_trajectory_control.yaml You can start and stop the ros-controllers using the rqt plugin ControllerManager

Position control

To command joints positions via ROS:

  • start the DCM bringup proving your robot's IP (be aware that the package will stop Autonomous Life on your robot):

    roslaunch nao_dcm_bringup nao_dcm_H25_bringup_position.launch robot_ip:=<ROBOT_IP>
    
  • send a position to the desired controller, for example

    rostopic pub /nao_dcm/LWristYaw_position_controller/command std_msgs/Float64 "data: 0"
    

CONTRIBUTING

No CONTRIBUTING.md found.