nao_move_head

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).

Table of contents

• Disclaimer
• Repository information
• Repository requirements and dependencies
  • System Requirements and Compatibility
  • Dependencies
• Installation Instructions
  • Pre-requirements
  • Installation steps
• ROS Launcher
• License
• Citation
• Contributors

Disclaimer

You are using this software at your own risk. The authors decline any responsibility for personal injuries and/or property damage.

Repository information

This repository is formed by a ROS package:

• nao_move_head: Simple NAO head controller integrated into ROS.

Repository requirements and dependencies

System Requirements and Compatibility

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

Dependencies

• nao_qi

Installation Instructions

Pre-requirements

Install all the system and ROS dependencies (for example, using rosdep install, or apt-get, or directly from source).

Installation steps

1. Create your ROS catkin workspace as usual.
2. Inside your workspace, download the nao_move_head repository: git clone https://github.com/dcazzato/nao_move_head ./
3. Compile your ROS catkin workspace as usual (catkin build recommended!)

ROS Launcher

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.

License

All distributed software are subject to the 3-clause BSD license. See the LICENSE file.

Citation

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}
}

Contributors

List of people that have contributed:

• Dario Cazzato ([email protected]): Main Author, Maintainaince, Debugging, Testing and Documentation.

Feel free to fork the project and send your contributions.