nao_moveit_config

This is a MoveIt! config package generated by the MoveIt! wizard. It requires a NAO model which you can get from here:

https://github.com/ros-naoqi/nao_robot/tree/master/nao_description or from the binary package : ros-indigo-nao-description

The moveit package must be run on a remote computer and not directly on your robot.

URDF and Textures used

This moveit package is based on a textured nao: https://github.com/ros-naoqi/nao_meshes

The urdf used for the generation of the configuration files is at: https://github.com/ros-naoqi/nao_robot

1. Compile the packages

nao_moveit_config package doesn't need any compilation so running rospack profile should be enough

For the dcm and gazebo packages you need to compile the C++ nodes. In order to compile nao_dcm packages, you need to set the environment variable AL_DIR to the path to naoqiSDK-c++ on your computer.

Then you can run the usual

catkin_make

And your ready to play with your nao

2. Run MoveIt

Without a robot -------------You can run this moveit package either unconnected to any robot or attached to a robot (real or simulated): For a standalone execution :

roslaunch nao_moveit_config demo.launch

Once launching the demo, you should see the robot in MoveIt! GUI like this:

{width=”100.0%”}

On a real robot -------------To launch it on a real nao you need: - nao_dcm_bringup (https://github.com/ros-aldebaran/nao_dcm_robot) - nao_control (https://github.com/ros-aldebaran/nao_virtual)

First, set NAO_IP environment variable to your robot's IP address:

export NAO_IP=<YOUR_ROBOT_IP>

Launch the DCM bringup:

roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch

Wait until it is ready, then run:

roslaunch nao_moveit_config moveit_planner.launch

On a simulated robot (in Gazebo) ------------------------------To use MoveIt! with Gazebo simulation, you need: - nao_dcm_bringup (https://github.com/ros-aldebaran/nao_dcm_robot) - nao_control (https://github.com/ros-aldebaran/nao_virtual) - nao_gazebo_plugin (https://github.com/ros-aldebaran/nao_virtual)

Launch Gazebo, like this:

roslaunch nao_gazebo_plugin nao_gazebo_plugin_H25.launch

Wait until it is ready, then click on the Play button in Gazebo.

Finally, start MoveIt!:

roslaunch nao_moveit_config moveit_planner.launch

This is based on the work of Konstantinos Chatzilygeroudis: https://github.com/costashatz/nao_dcm.

3 Use Moveit:

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