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DCM Bringup for Nao robot

The package contains launch and configuration files required to bring the robot's DCM Driver up and start the robot controllers. The package allows to control a robot from ROS, while communicating with Naoqi. You can control the robot either by calling DCM commands or ALMotion (by default).


sudo apt-get install ros-indigo-nao-robot ros-indigo-nao-meshes ros-indigo-nao-control


How to use it

Trajectory control

roslaunch nao_dcm_bringup nao_dcm_H25_bringup_remote.launch robot_ip:=<ROBOT_IP>

roslaunch nao_moveit_config moveit_planner.launch

Position control

To command joints positions via ROS:

roslaunch nao_dcm_bringup nao_dcm_H25_bringup_position.launch robot_ip:=<ROBOT_IP>

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

2024-06-22 13:12