nao: nao_ctrl | nao_description | nao_remote
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Stack Summary
The nao stack contains some useful ROS nodes for the Nao humanoid robot, developed at the Humanoid Robots Lab at the Albert-Ludwigs-Unversität in Freiburg, Germany. It provides joystick teleoperation, odometry, joint state, and a basic robot model for Nao.
Files are available at http://code.google.com/p/alufr-ros-pkg/, documentation at http://www.ros.org/wiki/nao.
- Author: Maintained by Armin Hornung
- License: BSD
- Repository: alufr-ros-pkg (http://alufr-ros-pkg.googlecode.com/svn)
For issues and questions, contact Armin Hornung
Documentation
Installation
Download a recent package or checkout the source. Add the source directory to your ROS_PACKAGE_PATH (e.g. in ~/.bashrc.ros), source that file and run
rosmake nao
To run the control code on the Nao, install Brown University's "naoros" driver on the Nao. Then, copy the "nao_ctrl" package from our nao stack into ~/naoros/ros/ on the nao. Edit naoros/ros/nao_ctrl/naoros.env to adjust your ROS_MASTER_URI, and comment out the line <depend package="rospy"/> in naoros/ros/nao_ctrl/manifest.xml.
Getting Started
Be sure to read the description of the single nodes in this stack for more information, in particular nao_ctrl for controlling Nao, and nao_remote for the remote connection. Once everything is up and running, rxgraph should report the nodes and connections as follows: 
Repository
Files are available at Google Code.