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OK, got alufr joystick walking to work! I may not have been hitting the right button sequence; it seems the requirement is: 1) EnableControl button (robot speaks aloud "joystick control enabled") 2) InitPose button (robot stands up) 3) Walk around with joystick axes

I also may have been pointing to the wrong version of naoqi-sdk.

I am still having issues cross-compiling ROS for the nao... but I'll open a distinct ticket for that.