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Publisher/Subscriber Node for Nao [closed]

asked 2014-02-22 19:16:07 -0500

dnth gravatar image

Is there any default template for me to write publisher/subscriber node for the nao? For example, what at the libraries that is needed and so forth..

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Closed for the following reason the question is answered, right answer was accepted by Vincent Rabaud
close date 2014-08-01 06:19:03.090008

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answered 2014-02-23 08:19:06 -0500

AbuIbra gravatar image

See this:

And to write a publisher/subscriber look here: This works for every robot.

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answered 2014-03-10 22:56:26 -0500

dnth gravatar image

updated 2014-03-10 22:57:18 -0500

I got it working by using this code. This is for subscribing to the foot bumpers. For subscribing to other sensors should be the same concept.

#include "ros/ros.h"
#include "nao_msgs/Bumper.h"

void bumperCallback(const nao_msgs::Bumper::ConstPtr &msg)
    ROS_INFO("I heard: %u and %u", msg->bumper, msg->state);

int main(int argc, char **argv)
    ros::init(argc, argv, "nao_bumper_listener");
    ros:: NodeHandle n;
    ros::Subscriber bump= n.subscribe("bumper", 1000, bumperCallback);
    return 0;
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Asked: 2014-02-22 19:16:07 -0500

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Last updated: Mar 10 '14