This is a naoqi driver module that bridges with ROS. It publishes several sensor data as well as the robot position.
On the other hand it enables ROS to call parts of the NAOqi API.
What it does
The naoqi_driver module is in charge of providing some bridge capabilities between ROS and NAOqiOS.
How it works
The naoqi_driver module is a NAOqi module that also acts as a ROS node. As there is no roscore on the robot, it needs to be given the IP of the roscore in order to be registered as a node in the ROS processing graph. Usually, you will start your roscore on your local desktop.
Once connected, normal ROS communication is happening between your robot, running NAOqi OS, and your desktop, running ROS.
For further information, you can go here or build the doc:
cd doc doxygen Doxyfile sphinx-build -b html ./source/ ./build/