Skip to content

Latest commit

 

History

History
84 lines (70 loc) · 2.68 KB

HOWTO.md

File metadata and controls

84 lines (70 loc) · 2.68 KB

Teleoperate arms and head of the real NAO

  1. Launch Naoqi locally

    naoqi

  2. Launch ROS and NAO bridge replacing NAO_IP with the real IP address of the robot (in a new terminal)

    roslaunch nao_kinect_teleop nao_bringup.launch nao_ip:=NAO_IP

  3. Start sending joint (skeleton) values from the Kinect v2 (in another terminal). This needs to be launched from the kinect_v2 package to have acces to the NiTE features:

    roscd kinect_v2
rosrun kinect_v2 pubSkeletonFixed

  4. Wait until the skeleton is properly detected. Then enable the robot motors (in another terminal)

    rosservice call /body_stiffness/enable

  5. Start the NAO motion (in another terminal)

    rosrun nao_kinect_teleop nao_teleop_arms_head

Ending the motion: To end the motion, first disable the NAO motors twice (or more times, if necessary, until the motors do not have any sound)

rosservice call /body_stiffness/disable 
rosservice call /body_stiffness/disable

Then stop all the previous processes (using Ctrl+C in each terminal). There is currently an issue with thread running the kinect process and it needs to be manually killed. To this end, go to the terminal used in step 3 and press Ctrl+C; then press Ctrl+Z; then execute

kill %
jobs

There should be a message saying: [Number]+ Terminated.

Note: If you are using Terminator as a terminal emulator, you can split the terminal horizontally using CTRL+O, and vertically using CTRL+E. This is useful for the previous case since each command must be in its dedicated terminal.

Teleoperate a simulated NAO (with naoqi)

The following teleoperates the arms and head of the NAO (as in the previous case) but, instead of using the real robot, it uses the simulation provided by naoqi.

  1. Launch Naoqi locally

    naoqi --broker-ip 127.0.0.1

  2. Start ROS master, the NAO bridge and Rviz (in a different terminal)

    roslaunch nao_kinect_teleop nao_bringup.launch nao_ip:=127.0.0.1

  3. Start sending joint (skeleton) values from the Kinect v2 (in another terminal)

    roscd kinect_v2
rosrun kinect_v2 pubSkeletonFixed

  4. Wait until the skeleton is properly detected. Then start the NAO motion (in another terminal)

    rosrun nao_kinect_teleop nao_teleop_arms_head

Ending the motion: To end the motionstop all the previous processes (using Ctrl+C in each terminal). There is currently an issue with thread running the kinect process and it needs to be manually killed as mentioned before.