naoqi_driver2

This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.

Dependencies

To run, the driver requires the naoqi_libqi, naoqi_libqicore and naoqi_bridge_msgs packages. Additionally, pepper_meshes and/or nao_meshes can be useful if you try to display the robot in RViz.

Using the binaries

To install the binaries, use the following commands:

sudo apt-get install ros-<your_distro>-naoqi-libqi
sudo apt-get install ros-<your_distro>-naoqi-libqicore
sudo apt-get install ros-<your_distro>-naoqi-bridge-msgs

# Optional, if you want to install the Pepper or NAO meshes
sudo apt-get install ros-<your_distro>-pepper-meshes
sudo apt-get install ros-<your_distro>-nao-meshes

Please not that if the driver has been released, you can also install it using apt-get

sudo apt-get install ros-<your_distro>-naoqi-driver

Installing from source

Create a workspace, and clone the required repositories. Then, checkout a relevant tag / branch for the cloned repos, and build the packages. This is a cloning example for the ROS2 foxy distro:

git clone --branch v2.5.0-foxy https://github.com/ros-naoqi/libqi.git
git clone --branch v2.5.0-foxy https://github.com/ros-naoqi/libqicore.git
git clone https://github.com/ros-naoqi/naoqi_bridge_msgs2.git
git clone https://github.com/ros-naoqi/naoqi_driver2.git

# Eventually, if you didn't install the robot meshes.
git clone --branch ros2 https://github.com/ros-naoqi/pepper_meshes.git
git clone --branch ros2 https://github.com/ros-naoqi/nao_meshes.git

Launch

The driver can be launched using the following command:

ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<ip> nao_port:=<port> network_interface:=<interface> username:=<name> password:=<passwd>

Note that the username and password arguments are only required for robots running naoqi 2.9 or greater.

Documentation

For further information, you can consult the documentation (OUTDATED) here or build it:

cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/

Build status

ROS Distro	Binary Status	Source Status	Github Build
Humble
Galactic
Foxy