ROS Interface

What it does

The ROS interface provides a bridge between NAOqi and ROS. For further details about ROS, see: http://wiki.ros.org .

It runs on a desktop and is able to communicate with all the Aldebaran robots.

How it works

ROS interface is a program running both as a ROS node and a NAOqi module.

It listens to NAOqi messages and publishes the translated ROS messages. Similarly, some services are interfaced between the two middle-ware to perform robotic actions.

Once launched, to allow basic visualization and interaction with the robot, you can use the common ROS tools like:

• RViz http://wiki.ros.org/rviz , or
• rQt http://wiki.ros.org/rqt .

ROS interface uses the URDF and meshes provided by ALdebaran to render data.

Requirements

ROS Indigo or higher.

How to use

ROS interface is released via ROS repositories.

Necessary information on how to install and use is provided by the community on Aldebaran ROS wiki page: http://wiki.ros.org/Aldebaran .

Support

The code is pure open source: it is under the Apache 2.0 license with shared maintainership with the community.

If you need any support, contact the ROS community.