Simple Aldebaran NAO and Pepper robots head controller integrated into ROS. It works with Aldebaran NAO and Pepper robots, as well as with virtual version in rviz environments (http://wiki.ros.org/nao/Tutorials/Getting-Started).
- Disclaimer
- Repository information
- Repository requirements and dependencies
- Installation Instructions
- ROS Launcher
- License
- Citation
- Contributors
You are using this software at your own risk. The authors decline any responsibility for personal injuries and/or property damage.
This repository is formed by a ROS package:
- nao_move_head: Simple NAO head controller integrated into ROS.
This package is running under:
- Ubuntu: 16.04 and above
- ROS: Kinetic and built with catkin tools
This package has been tested under:
- Ubuntu: 16.04
- ROS: Kinetic
- nao_qi
Install all the system and ROS dependencies (for example, using rosdep install, or apt-get, or directly from source).
- Create your ROS catkin workspace as usual.
- Inside your workspace, download the nao_move_head repository: git clone https://github.com/dcazzato/nao_move_head ./
- Compile your ROS catkin workspace as usual (catkin build recommended!)
The package includes a launcher called nao_move_head.launch.
Configurable ROS launch parameters:
- subscriber_hpe: name of the subscriber that published head pose angles
- fractionMaxSpeedYaw: The fraction of maximum speed to use for the yaw angle (see http://doc.aldebaran.com/2-1/naoqi/motion/control-joint-api.html)
- fractionMaxSpeedPitch: The fraction of maximum speed to use for the pitch angle (see http://doc.aldebaran.com/2-1/naoqi/motion/control-joint-api.html)
- robotIP: the IP address to communicate the command to the robot.
All distributed software are subject to the 3-clause BSD license. See the LICENSE file.
Please cite this paper in your publications if it helps your research:
@inproceedings{cazzato2019real,
title={Real-Time Human Head Imitation for Humanoid Robots},
author={Cazzato, Dario and Cimarelli, Claudio and Sanchez-Lopez, Jose Luis and Olivares-Mendez, Miguel A and Voos, Holger},
booktitle={Proceedings of the 2019 3rd International Conference on Artificial Intelligence and Virtual Reality},
pages={65--69},
year={2019}
}
List of people that have contributed:
- Dario Cazzato (dcazzato85@gmail.com): Main Author, Maintainaince, Debugging, Testing and Documentation.
Feel free to fork the project and send your contributions.