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I have succesfuly installed the nao package and I am able to publish the nao_sensors info. I want to now publish data to control only the arms of the nao robot and see the simulation of it in choregraphe. Is this possible with nao stack ??
There is now a general joint angle / joint trajectory control in the trunk of the nao stack (check nao_controller.py in nao_ctrl). It allows to control any joint or chain on the Nao with ROS messages or an actionlib server.
Thank you AHornung,
but I created my own message file and my own code to move the arms. I put both of these in the nao package and they are working pretty good. I am able to publish data to control each arms separately. I will be converting this into a small package. But I am having trouble with gendep tools. I am unable to find this tool to autogenerate msg files in lisp/cpp/python/header and create md5 file. I created md5 file and rest of them manually.
But overall my script is running good.
I haven't added joint angle control to the nao_ctrl driver, partly because I was hoping (and waiting) for official ROS support on the Nao from Aldebaran. I might add joint angle control (not only for the arms, but of course you can also control just the arms) soon. Until then, you have to directly use Aldebaran's C++ or Python API to control it (refer to the API documentation).
Hello, AHornung. In gazebo, I can use a ros-kinetic-position-controllers to controll every joints of nao, I wonder if I can do the same thing with nao robot. I try to use nao_dcm_bringup package(http://wiki.ros.org/nao_dcm_bringup) ,but I failed. Do you have any suggestions? Thank you .
Asked: 2011-10-12 05:07:56 -0600
Seen: 1,331 times
Last updated: Nov 08 '11
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