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