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Only released in EOL distros:   groovy hydro indigo jade

Node API

nao_path_follower

Make Nao follow a given trajectory.

Subscribed Topics

foot_contact (std_msgs/Bool)

• True = robot currently has foot contact with the ground.

Published Topics

cmd_pose (geometry_msgs/Pose2D)

• Command to the pose controller (only if the use_vel_ctrl parameter is set to False)

cmd_vel (geometry_msgs/Twist)

• Command to the velocity controller (only if the use_vel_ctrl parameter is set to True)

nao_path_follower/target_pose (geometry_msgs/PoseStamped)

• ..

walk_path/goal (naoqi_msgs/FollowPathActionGoal)

• ..

walk_target/goal (move_base_msgs/MoveBaseActionGoal)

• ..

Parameters

base_frame_id (string, default: base_footprint)

• Base frame of the robot.

controller_frequency (float, default: 10.0)

• Desired frequency for controller loop in Hz.

target_distance_threshold (float, default: 0.05)

• Maximum linear deviation to reach target point.

target_angle_threshold (float, default: rad(5 degrees))

• Maximum angular deviation to reach target orientation.

waypoint_distance_threshold (float, default: 0.05)

• Maximum linear deviation to switch to next waypoint on path

waypoint_angle_threshold (float, default: rad(45 degrees))

• Maximum angular deviation to switch to next waypoint on path

max_vel_x (float, default: 0.7)

• Maximum fraction of forward velocity for velocity controller, between 0.0 and 1.0.

max_vel_y (float, default: 0.7)

• Maximum fraction of sideways velocity for velocity controller, between 0.0 and 1.0.

max_vel_yaw (float, default: 0.7)

• Maximum fraction of rotational velocity for velocity controller, between 0.0 and 1.0.

step_freq (float, default: 0.5)

• Step frequency (should be set to the same value as in nao_walker).

use_vel_ctrl (boolean, default: False)

• True = use simple velocity controller, False = use Aldebaran's walkTo controller.

use_foot_contact_protection (boolean, default: True)

• True = abort walk when robot is lifted off the ground

path_next_target_distance (float, default: 0.1)

• Cumulative Distance to next Velocity Target from current robot pose along path

path_max_start_distance (float, default: 0.1)

• Max distance to start of path from robot pose to accept path (safety)

threshold_damp_xy (float, default: 0.2)

• Slow down when distance to goal is smaller than this value [in meters].

threshold_damp_yaw (float, default: rad(60 degrees))

• Slow down rotation when angular deviation from goal pose is smaller than this value [in radians].