nao_rail: nao_openni | nao_speech | nao_vision
Package Summary
The nao_vision package contains a node to publish images from the NAO's on-board camera as a sensor_msgs/Image. Optional parameters can be set to set the resolution and select which camera to stream from. This package has been tested with NAOqi version 1.10.52.
- Author: Russell Toris
- License: BSD
- Repository: wpi-rail-ros-pkg
- Source: git https://github.com/WPI-RAIL/wpi-rail-ros-pkg
Nodes
nao_vision
nao_vision can remotely stream images from an Aldebaran NAO's built in camera. By default, a 320x240 RGB image is streamed from the top camera and published on the nao_camera topic. Optional parameters can be set to change the resolution or change to the bottom camera.Published Topics
nao_vision (sensor_msgs/Image)- Current image from the NAO's on-board camera.
Parameters
/naoqi/host (string)- Hostname used to communicate with the NAO.
- Port used to communicate with the NAO.
- Optional path to the NAOqi /lib folder that can be used if your local PYTHONPATH does not include it.
- Integer representation of the resolution as defined by the Nao video API. {0=kQQVGA, 1=kQVGA, 2=kVGA}
- Integer representation of the camera to stream from as defined by the Nao video API. {0=top-camera, 1=bottom-camera}
Startup
The nao_vision package contains a nao_vision.launch file which should be edited with the hostname and port of your NAO. Additionally, if your local PYTHONPATH does not include the path to your NAOqi /lib folder, an optional parameter can be set in the launch file. Parameters are also included to configure the resolution and the camera (bottom or top) that will be streamed. These are set to the default values in the given launch file. This file launches an instance of the nao_vision node. To launch this node, the following commands can be used:
With the above node running, you can test video streaming with the image_view package using the following command:
1 rosrun image_view image_view image:=/nao_camera
Support
Please feel free to contact me at any point with questions, comments, and bug reports.