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feat(nao6): add SSH command actions for robot posture control
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This commit is contained in:
Sean O'Connor
2026-04-01 19:59:16 -04:00
parent 8f5ee4891f
commit 8334b809f2
1 changed files with 80 additions and 10 deletions
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plugins/nao6-ros2.json
+80 -10
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@@ -187,12 +187,11 @@
"retryable": true, "retryable": true,
"parameterSchema": {"type": "object", "properties": {}}, "parameterSchema": {"type": "object", "properties": {}},
"ros2": { "ros2": {
"topic": "/naoqi_driver/ALMotion/wakeUp", "topic": "/ssh",
"messageType": "std_msgs/msg/Empty", "messageType": "std_msgs/msg/String",
"payloadMapping": { "payloadMapping": {
"type": "service", "type": "ssh",
"service": "/naoqi_driver/ALMotion/wakeUp", "sshCommand": "qicli call ALMotion.wakeUp"
"args": {}
} }
} }
}, },
@@ -206,12 +205,83 @@
"retryable": true, "retryable": true,
"parameterSchema": {"type": "object", "properties": {}}, "parameterSchema": {"type": "object", "properties": {}},
"ros2": { "ros2": {
"topic": "/naoqi_driver/ALMotion/rest", "topic": "/ssh",
"messageType": "std_msgs/msg/Empty", "messageType": "std_msgs/msg/String",
"payloadMapping": { "payloadMapping": {
"type": "service", "type": "ssh",
"service": "/naoqi_driver/ALMotion/rest", "sshCommand": "qicli call ALMotion.rest"
"args": {} }
}
},
{
"id": "stand",
"name": "Stand",
"description": "Robot stands in neutral position",
"category": "movement",
"icon": "user",
"timeout": 5000,
"retryable": true,
"parameterSchema": {"type": "object", "properties": {}},
"ros2": {
"topic": "/ssh",
"messageType": "std_msgs/msg/String",
"payloadMapping": {
"type": "ssh",
"sshCommand": "qicli call ALRobotPosture.goToPosture Stand 0.5"
}
}
},
{
"id": "stand_init",
"name": "Stand Init",
"description": "Robot stands in initialized position",
"category": "movement",
"icon": "user-check",
"timeout": 5000,
"retryable": true,
"parameterSchema": {"type": "object", "properties": {}},
"ros2": {
"topic": "/ssh",
"messageType": "std_msgs/msg/String",
"payloadMapping": {
"type": "ssh",
"sshCommand": "qicli call ALRobotPosture.goToPosture StandInit 0.5"
}
}
},
{
"id": "sit",
"name": "Sit",
"description": "Robot sits down",
"category": "movement",
"icon": "armchair",
"timeout": 5000,
"retryable": true,
"parameterSchema": {"type": "object", "properties": {}},
"ros2": {
"topic": "/ssh",
"messageType": "std_msgs/msg/String",
"payloadMapping": {
"type": "ssh",
"sshCommand": "qicli call ALRobotPosture.goToPosture Sit 0.5"
}
}
},
{
"id": "crouch",
"name": "Crouch",
"description": "Robot crouches",
"category": "movement",
"icon": "arrow-down-to-line",
"timeout": 5000,
"retryable": true,
"parameterSchema": {"type": "object", "properties": {}},
"ros2": {
"topic": "/ssh",
"messageType": "std_msgs/msg/String",
"payloadMapping": {
"type": "ssh",
"sshCommand": "qicli call ALRobotPosture.goToPosture Crouch 0.5"
} }
} }
}, },