Aldebaran Robotics Nao
ROS Software Maintainer: Armin Hornung, University of Freiburg
Nao is a commercially available humanoid robot built by Aldebaran Robotics. The ROS driver is provided by Freiburg's Humanoid Robots Lab in alufr-ros-pkg, which essentially wraps the needed parts of Aldebaran's NaoQI API and makes it available in ROS. It also provides a complete robot model (URDF). A port of rospy to the Nao is available in brown-ros-pkg.
Robots using ROS: Aldebaran Nao
Robots using ROS: Uni Freiburg's "Osiris" Nao
Contents
Installation
See installation instruction for the nao_robot and nao_common stacks.
See getting started for a walk-through guide to installing ROS, NAOqi, and rviz.
See Cross-compiling if you want to run ROS directly on the robot. You can also run ROS off-board, via a remote connection.
Library Overview
The core functionality is implemented in the nao_robot stack (can be installed on the robot or on a remote PC), extended with ROS functionality in nao_common (should be installed on a remote PC). For an outline of these libraries, please see the tables below.
Basic Configuration
Capability |
ROS package/stack |
Robot-specific Messages and Services |
|
Robot model (URDF) |
Hardware Drivers and Simulation
Component |
ROS package/stack |
Actuator drivers |
|
Sensor drivers |
|
Simulation (3D) |
Use a simulated Nao in Webots and connect the driver to NaoQI on your local machine |
High-Level Capabilities
Component |
ROS package/stack |
Teleop |
|
Footstep planning |
|
Diagnostics / Visualization |