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Executable File
🤖 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