naoqi

This repo intends to simplify the installation and usage of naoqi system with ros2. This repository contains only the core packages of naoqi. For visualization with rviz, use AIResearchLab/naoqi_rviz.

Docker based usage

Clone the repository

git clone https://github.com/AIResearchLab/naoqi.git

Before starting Docker container

Before starting the docker container, ssh into your robot and run the following commands to disable automonus behaviours

ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp

Start the docker container

cd src/naoqi/docker
docker compose -f compose.amd64.yaml pull
docker compose -f compose.amd64.yaml up

Once the container shutdown,

After working with the docker container, before shutting down the robot, ssh into your robot and run the following commands to enable automonus behaviours

ssh nao@<robot_host>
qicli call ALAutonomousLife.setState solitary
qicli call ALMotion.wakeUp

ROS based installation

Create the workspace

mkdir -p workspace/src
cd workspace/src

Core Packages (For non gui based usage)

Clone the repository with submodules

git clone --recursive https://github.com/AIResearchLab/naoqi.git

Core Packages with RVIZ (For gui based usage)

Clone the repository with submodules

git clone --recursive https://github.com/AIResearchLab/naoqi.git
git clone --recursive https://github.com/AIResearchLab/naoqi_rviz.git

RVIZ Packages only (To connect and visualize data from a connected robot)

For visalization only tasks, follow instructions at AIResearchLab/naoqi_rviz

Build workspace

According to ros-naoqi/naoqi_driver2 developers comments, AIResearchLab/naoqi works with both AMD64 and ARM64 computers while AIResearchLab/naoqi_rviz can only be build on AMD64 computers.

cd workspace
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y

colcon build

to agree to and skip license prompt, run,

I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build

Before starting ROS system

Before connecting with ROS, ssh into your robot and run the following commands to disable automonus behaviours

ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp

Starting the system

source install/setup.bash
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=10.0.0.244 qi_listen_url:=tcp://0.0.0.0:0

Once the ROS system shutdown,

After working with ROS, before shutting down the robot, ssh into your robot and run the following commands to enable automonus behaviours

ssh nao@<robot_host>
qicli call ALAutonomousLife.setState solitary
qicli call ALMotion.wakeUp

Examples

Check that the node is running correctly

Check that the driver is connected:

ros2 node info /naoqi_driver

Hello, world

Make the robot say hello:

ros2 topic pub --once /speech std_msgs/String "data: hello"

Listen to words

You can setup speech recognition and get one result.

ros2 action send_goal listen naoqi_bridge_msgs/action/Listen "expected: [\"hello\"]
language: \"en\""

Move the head

Check that you can move the head by publishing on /joint_angles:

ros2 topic pub --once /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"

You can see the published message with ros2 topic echo /joint_angles

Move around

Check that you can move the robot by publishing on cmd_vel to make the robot move:

ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
  x: 0.5
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.785"

Make some room around the robot!

To stop the robot, you must send a new message with linear and angular velocities set to 0:

ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"