NAO + ROS: walking : Howto?
Hi everybody. I am trying to make my NAO walk using the nao_driver. But i can't get this thing working. It would be very kind of you, if someone can give me i hint on how doing so.
I tried several things. One in all i tried to publish a message to /cmd_vel
rostopic pub -1 /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
publishing and latching message for 3.0 seconds
but nothing happens - the NAO does not move.
rostopic echo /cmd_vel
shows me that the value is correctly changed. But anyway the values in
rostopic echo /torso_odometry
stay the same and do not change.
Thank you for your help.
Edit:
I solved my problem: I forgot to enable the stiffness.
To do so just use (stiffness for whole body):
rosservice call /body_stiffness/enable "{}"
Now it works. :-)
Asked by Idontknowit on 2012-10-08 03:22:48 UTC
Answers
okay. i fixed it. The reason why i did not work was because i did not set stiffness to enable.
example (setting the stiffness for the whole body:
rosservice call /body_stiffness/enable "{}"
Asked by Idontknowit on 2012-10-10 03:07:07 UTC
Comments
are u making the actual robot walk or doing this in a virtual environment?
Asked by uzair on 2013-10-31 16:13:03 UTC
Comments