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Add implementation properties for trial execution
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This commit is contained in:
Sean O'Connor
2026-03-21 18:28:03 -04:00
parent 6a805aaa91
commit 31beaffc5b
1 changed files with 104 additions and 0 deletions
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104
plugins/nao6-ros2.json
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@@ -311,6 +311,23 @@
} }
} }
} }
},
"implementation": {
"type": "ros2_topic",
"topic": "/cmd_vel",
"messageType": "geometry_msgs/msg/Twist",
"messageTemplate": {
"linear": {
"x": "{{speed}}",
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": 0
}
}
} }
}, },
{ {
@@ -361,6 +378,23 @@
} }
} }
} }
},
"implementation": {
"type": "ros2_topic",
"topic": "/cmd_vel",
"messageType": "geometry_msgs/msg/Twist",
"messageTemplate": {
"linear": {
"x": "-{{speed}}",
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": 0
}
}
} }
}, },
{ {
@@ -411,6 +445,23 @@
} }
} }
} }
},
"implementation": {
"type": "ros2_topic",
"topic": "/cmd_vel",
"messageType": "geometry_msgs/msg/Twist",
"messageTemplate": {
"linear": {
"x": 0,
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": "{{speed}}"
}
}
} }
}, },
{ {
@@ -461,6 +512,23 @@
} }
} }
} }
},
"implementation": {
"type": "ros2_topic",
"topic": "/cmd_vel",
"messageType": "geometry_msgs/msg/Twist",
"messageTemplate": {
"linear": {
"x": 0,
"y": 0,
"z": 0
},
"angular": {
"x": 0,
"y": 0,
"z": "-{{speed}}"
}
}
} }
}, },
{ {
@@ -534,6 +602,14 @@
"reliability": "reliable", "reliability": "reliable",
"durability": "volatile" "durability": "volatile"
} }
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "{{text}}"
}
} }
}, },
{ {
@@ -585,6 +661,14 @@
"data": "\\rspd={{speed}}\\\\rst={{emotion}}\\{{text}}" "data": "\\rspd={{speed}}\\\\rst={{emotion}}\\{{text}}"
} }
} }
},
"implementation": {
"type": "ros2_topic",
"topic": "/speech",
"messageType": "std_msgs/msg/String",
"messageTemplate": {
"data": "{{text}}"
}
} }
}, },
{ {
@@ -719,6 +803,16 @@
"speed": "{{speed}}" "speed": "{{speed}}"
} }
} }
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["HeadYaw", "HeadPitch"],
"joint_angles": ["{{yaw}}", "{{pitch}}"],
"speed": "{{speed}}"
}
} }
}, },
{ {
@@ -923,6 +1017,16 @@
"type": "transform", "type": "transform",
"transformFn": "transformToHeadMovement" "transformFn": "transformToHeadMovement"
} }
},
"implementation": {
"type": "ros2_topic",
"topic": "/joint_angles",
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": {
"joint_names": ["HeadYaw", "HeadPitch"],
"joint_angles": ["{{yaw}}", "{{pitch}}"],
"speed": "{{speed}}"
}
} }
}, },
{ {