NAO-simulations

Package collections to run Gazebo simulation for NAO robot V6.

System parameters

• Ubuntu 18.04 LTS
• ROS Melodic

For ROS Kinectic and earlier, please use official release.

Getting started

1. Follow the install guide to download and install NAOqi SDK. Make sure your worktree contains location you are going to clone this repository.
2. Follow the ROS Setup Guide for installing Melodic. Desktop-Full version is highly recommended.
3. Set up this repository after cloning,

sudo apt-get update
cd NAO-simulation/catkin_ws
# This downloads dependencies used by packages in this workspace
rosdep install --from-paths src --ignore-src -r -y --rosdistro melodic

# After download is completed, build the packages
catkin_make

# (Optional) Overlay environment of this workspace in .bashrc
PATH=$(pwd -P) && echo "source $PATH/devel/setup.bash" >> ~/.bashrc 
source $HOME/.bashrc

To launch simulation in Gazebo,

roslaunch nao_gazebo_plugin nao_gazebo.launch

To launch motion planner in Rviz,

roslaunch nao_moveit_config moveit_planner.launch

Available controllers

Find NAO specs here.

• Head
• Left/Right Arm
• Left/Right Foot
• Left/Right Hand
• Left/Right Leg
• Pelvis
• FSR Left/Right Foot
• Camera top/bottom
• Sonar Left/Right

Modules

Submodules

• nao_robot
• nao_extras
• nao_virtual
• nao_moveit_config
• naoqi_bridge
• naoqi_bridge_msg

Created modules

• nao_meshes, with NAO V6 urdf.

TODO

• Create xacros for V6 model
• Compile Naoqi_driver?