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_url argument, 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

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