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Add ROS2 bridge

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Sean O'Connor
2025-10-16 16:08:49 -04:00
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🤖 NAO6 — ROS 2 Humble Topics (via naoqi_driver2)
🏃 Motion & Odometry
Topic Message Type Description
/cmd_vel geometry_msgs/msg/Twist Command linear and angular base velocities (walking).
/odom nav_msgs/msg/Odometry Estimated robot position and velocity.
/move_base_simple/goal geometry_msgs/msg/PoseStamped Send goal poses for autonomous navigation.
🔩 Joints & Robot State
Topic Message Type Description
/joint_states sensor_msgs/msg/JointState Standard ROS joint angles, velocities, efforts.
/joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed NAO-specific joint control interface.
/info naoqi_bridge_msgs/msg/RobotInfo General robot info (model, battery, language, etc.).
🎥 Cameras
Topic Message Type Description
/camera/front/image_raw sensor_msgs/msg/Image Front (head) camera image stream.
/camera/front/camera_info sensor_msgs/msg/CameraInfo Intrinsics for front camera.
/camera/bottom/image_raw sensor_msgs/msg/Image Bottom (mouth) camera image stream.
/camera/bottom/camera_info sensor_msgs/msg/CameraInfo Intrinsics for bottom camera.
🦶 Sensors
Topic Message Type Description
/imu/torso sensor_msgs/msg/Imu Torso inertial measurement data.
/bumper naoqi_bridge_msgs/msg/Bumper Foot bumper contact sensors.
/hand_touch naoqi_bridge_msgs/msg/HandTouch Hand tactile sensors.
/head_touch naoqi_bridge_msgs/msg/HeadTouch Head tactile sensors.
/sonar/left sensor_msgs/msg/Range Left ultrasonic range sensor.
/sonar/right sensor_msgs/msg/Range Right ultrasonic range sensor.
🔊 Audio & Speech
Topic Message Type Description
/audio audio_common_msgs/msg/AudioData Raw audio input from NAO’s microphones.
/speech std_msgs/msg/String Send text-to-speech commands.
🧠 System & Diagnostics
Topic Message Type Description
/diagnostics diagnostic_msgs/msg/DiagnosticArray Hardware and driver status.
/robot_description std_msgs/msg/String URDF description of the robot.
/tf tf2_msgs/msg/TFMessage Coordinate transforms between frames.
/parameter_events rcl_interfaces/msg/ParameterEvent Parameter change notifications.
/rosout rcl_interfaces/msg/Log Logging output.
✅ ROS 2 bridge status: Active
✅ Robot model detected: NAO V6 (NAOqi 2.8.7.4)
✅ Driver: naoqi_driver2
✅ System confirmed working: motion, speech, camera, IMU, touch, sonar