Installation of ROS for the Nao robot

The necessary stack are humanoid_msgs, nao_robot, and nao_common. Only the first two are required to run on the robot while the nodes from nao_common are designed to run on a remotely connected PC.

Installation

Package Download

Download a recent package of the nao packages, unzip the archive and add it to your ROS_PACKAGE_PATH.

rosinstall from Repository

By checking out from our SVN repository instead, you can always stay up to date with the latest version. Use the following rosinstall to check out the needed code:

- svn:
    uri: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_msgs
    local-name: stacks/humanoid_msgs
- svn:
    uri: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/nao_robot
    local-name: stacks/nao_robot
- svn:
    uri: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/nao_common
    local-name: stacks/nao_common

Put these lines in a file "rosinstall.txt" and run e.g.

rosinstall . /opt/ros/electric rosinstall.txt

in the directory where you want to check out the code to work with an installed ROS electric release. Add this path to your ROS_PACKAGE_PATH or "source setup.bash" in that directory and compile with

rosmake --rosdep-install humanoid_msgs nao_robot nao_common

Running ROS with the Nao

You can run all code on a remotely connected PC running ROS (in this case point the nodes in nao_driver to your Nao's IP) or run the nao_robot stack directly on the robot. For this you need to install Brown University's "naoros" driver on the Nao or crosscompile ROS and the required stacks for the Nao yourself. See Tutorials/Cross-Compiling for further details. At least nao_robot and humanoid_msgs and their dependent stacks are required in this case.