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fix(nao6): use joint angles for beckon gesture

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Use direct joint control instead of animation which may not exist on all NAOs
This commit is contained in:
Sean O'Connor
2026-04-01 16:33:20 -04:00
parent 06bdaaefc3
commit b9be426805
1 changed files with 11 additions and 7 deletions
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plugins/nao6-ros2.json
+11 -7
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@@ -1642,7 +1642,7 @@
{ {
"id": "beckon", "id": "beckon",
"name": "Beckon", "name": "Beckon",
"description": "Come here gesture using wave", "description": "Come here gesture",
"category": "movement", "category": "movement",
"icon": "arrow-right", "icon": "arrow-right",
"timeout": 2500, "timeout": 2500,
@@ -1652,21 +1652,25 @@
"properties": {} "properties": {}
}, },
"ros2": { "ros2": {
"messageType": "std_msgs/msg/String", "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"topic": "/speech", "topic": "/joint_angles",
"payloadMapping": { "payloadMapping": {
"type": "static", "type": "static",
"payload": { "payload": {
"data": "^start(animations/Stand/Gestures/Hello_1)" "joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [0.5, 0.3, -1.2, -0.5],
"speed": 0.3
} }
} }
}, },
"implementation": { "implementation": {
"type": "ros2_topic", "type": "ros2_topic",
"topic": "/speech", "topic": "/joint_angles",
"messageType": "std_msgs/msg/String", "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
"messageTemplate": { "messageTemplate": {
"data": "^start(animations/Stand/Gestures/Hello_1)" "joint_names": ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
"joint_angles": [0.5, 0.3, -1.2, -0.5],
"speed": 0.3
} }
} }
}, },