ROS Index
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-01-29 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 0.6.0 |
README
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/
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-01-29 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 0.6.0 |
README
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/
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver2.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-02-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 2.1.1 |
README
naoqi_driver2
This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.
How it works
The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi. To support audio extraction, naoqi_driver opens a public endpoint, on a random port by default.
You can set a local endpoint instead by setting the
qi_listen_urlargument, e.g.qi_listen_url:=tcp://127.0.0.1:12345. In turn, audio extraction will be disabled.
Installation
Dependencies
To run, the driver requires the naoqi_libqi,
naoqi_libqicore
and naoqi_bridge_msgs packages.
Those can be installed using apt-get (if they have been released for your ROS distro) or from source.
Additionally, pepper_meshes
and/or nao_meshes can be useful to display the robot in RViz.
On Ubuntu, install them using:
sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes
Installing from source
In your ROS2 workspace, clone the repo and its dependencies:
cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y
To install vcs:
sudo apt-get install python3-vcstool
Then build the workspace:
cd <ws>
colcon build --symlink-install
Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:
colcon build --packages-skip nao_meshes pepper_meshes
License of the meshes
The source repositories include
pepper_meshes2
and nao_meshes2,
which require an interactive agreement to be provided.
If you agree to their license terms (
CC BY-NC-ND 4.0:
pepper_meshes2 LICENSE,
nao_meshes2 LICENSE).
you may skip the interactive prompt by setting
the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:
I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install
Automated jobs on non-interactive environments
(DEBIAN_FRONTEND=noninteractive)
defaults to agreeing to the licenses,
assuming the author of the job has agreed to the license terms.
Launch
Avoid interference with autonomous life
To have full control of the robot with ROS, you may want to disable autonomous behaviors first:
ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp
NAOqi 2.8 and lower
File truncated at 100 lines see the full file
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-01-29 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 0.6.0 |
README
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/
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-01-29 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 0.6.0 |
README
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/
CONTRIBUTING
Repository Summary
| Checkout URI | https://github.com/ros-naoqi/naoqi_driver.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-01-29 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| naoqi_driver | 0.6.0 |
README
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/