nao_common: nao_description | nao_remote | nao_teleop
Package Summary
nao_description - Description of the Nao robot model that can be used with robot_state_publisher to display the robot's state of joint angles.
- Author: Armin Hornung, Stefan Osswald
- License: BSD
- Repository: alufr-ros-pkg
- Source: svn http://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/nao_common/nao_description
Contents
Documentation
Nao's URDF description contains all joints and links according to the documentation by Aldebaran Robotics for V3 and V4 Naos. In accordance with REP-105 (Coordinate Frames for Mobile Platforms) and REP-120 (Coordinate Frames for Humanoid Robots) the root link is base_link, directly connected to torso. The camera frames are CameraBottom_frame and CameraTop_frame. nao_remote publishes the odom -> base_link transform and a base_footprint frame, projected between the feet on the ground. The defined links for the end effectors are [l|r]_gripper for the arms and [l|r]_sole for the feet.
