NAO + ROS: walking : Howto? [closed]
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. :-)