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How can we control only the Right and Left arm of the nao robot.

asked 2011-10-12 05:07:56 -0500

evolutionsdisaster gravatar image

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 ??

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answered 2011-11-08 22:47:55 -0500

AHornung gravatar image

There is now a general joint angle / joint trajectory control in the trunk of the nao stack (check in nao_ctrl). It allows to control any joint or chain on the Nao with ROS messages or an actionlib server.

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answered 2011-10-12 20:56:18 -0500

AHornung gravatar image

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).

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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( ,but I failed. Do you have any suggestions? Thank you .

yao gravatar image yao  ( 2018-09-18 11:38:11 -0500 )edit

answered 2011-10-17 03:20:36 -0500

evolutionsdisaster gravatar image

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.

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Sounds good! If you can send it to me or post it somewhere online I can integrate it into nao_ctrl if that's OK with you. I would suggest using the JointState or JointTrajectory msg already existing in ROS for max. compatibility. It can also control any kind of joint then (not only arms).
AHornung gravatar image AHornung  ( 2011-10-17 04:19:39 -0500 )edit

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Asked: 2011-10-12 05:07:56 -0500

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Last updated: Nov 08 '11