NAO Tutorial: Getting Started with NAO + ROS

Make sure you have installed all the dependencies and configured PYTHONPATH system variable correctly

*see installation guide for detail

Controlling Robot

1. Turn on the robot. See this guide for detail

2. Start the robot bridge on your computer

   $ roslaunch nao_bringup nao_full_py.launch nao_ip:=<robot_ip> \
   roscore_ip:=<roscore_ip>
   

   This will start the robot’s default configuration with the following publisher:

   • joint_states
   • tf
   • top camera
   • bottom camera
   • left sonar
   • right sonar
   • microphone

3. To visualize the robot, open rviz

   $ rosrun rviz rviz
   

   1. In top bar, go to File->Open Config
   2. navigate to <your catkin workspace>/src/nao_robot/nao_description/config and open the file with .rviz extension
      • make sure you have nao_meshes installed
   3. you should see something similar to the below screenshot

4. Controlling the robot

   1. execute rosnode list to check if /nao_walker node is running

   2. To turn on the motors

      $ rosservice call /body_stiffness/enable "{}"
      

      To turn off the motors

      $ rosservice call /body_stiffness/disable "{}"
      

   3. once the motors are on, use the following command to move the robot in x-direction

      $ 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}}'
      

      To stop the robot, run:

      $ rostopic pub -1 /cmd_vel geometry_msgs/Twist \
      '{linear: {x: 0.0, y: 0.0, z: 0.0}, \
      angular: {x: 0.0, y: 0.0, z: 0.0}}'
      

Next: NAOqi SDK Guide

Reference

• Getting started with ROS for Nao, including NAOqi and rviz
• nao_bringup