mirror of
https://github.com/soconnor0919/robot-plugins.git
synced 2026-02-04 23:46:33 -05:00
Update NAO6 ROS2 plugin definition
This commit is contained in:
HRIStudio Integration
@@ -8,20 +8,17 @@
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"hriStudioVersion": ">=0.1.0",
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"trustLevel": "verified",
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"category": "humanoid-robot",
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"manufacturer": {
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"name": "SoftBank Robotics",
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"website": "https://www.softbankrobotics.com/",
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"support": "https://developer.softbankrobotics.com/"
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},
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"documentation": {
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"mainUrl": "https://developer.softbankrobotics.com/nao6/nao-documentation",
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"apiReference": "https://github.com/ros-naoqi/naoqi_driver2",
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"wikiUrl": "https://en.wikipedia.org/wiki/Nao_(robot)",
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"videoUrl": "https://www.youtube.com/watch?v=nNbj2G3GmAg"
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},
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"assets": {
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"thumbnailUrl": "assets/nao6-ros2/thumb.png",
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"images": {
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@@ -38,7 +35,6 @@
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"url": "https://github.com/ros-naoqi/nao_robot/raw/master/nao_description/urdf/nao.urdf"
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}
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},
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"specs": {
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"dimensions": {
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"length": 0.275,
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@@ -60,28 +56,26 @@
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"maxSpeed": 0.55,
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"batteryLife": 1.5
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},
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"ros2Config": {
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"namespace": "nao",
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"nodePrefix": "hri_studio",
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"defaultTopics": {
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"cmd_vel": "/cmd_vel",
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"odom": "/odom",
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"joint_states": "/joint_states",
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"joint_states": "/naoqi_driver/joint_states",
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"joint_angles": "/joint_angles",
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"camera_front": "/camera/front/image_raw",
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"camera_bottom": "/camera/bottom/image_raw",
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"imu": "/imu/torso",
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"camera_front": "/naoqi_driver/camera/front/image_raw",
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"camera_bottom": "/naoqi_driver/camera/bottom/image_raw",
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"imu": "/naoqi_driver/imu/torso",
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"speech": "/speech",
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"bumper": "/bumper",
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"hand_touch": "/hand_touch",
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"head_touch": "/head_touch",
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"sonar_left": "/sonar/left",
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"sonar_right": "/sonar/right",
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"info": "/info"
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"bumper": "/naoqi_driver/bumper",
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"hand_touch": "/naoqi_driver/hand_touch",
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"head_touch": "/naoqi_driver/head_touch",
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"sonar_left": "/naoqi_driver/sonar/left",
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"sonar_right": "/naoqi_driver/sonar/right",
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"info": "/naoqi_driver/info"
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}
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},
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"actions": [
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{
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"id": "walk_velocity",
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@@ -109,7 +103,10 @@
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"description": "Angular velocity in rad/s"
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}
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},
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"required": ["linear", "angular"]
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"required": [
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"linear",
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"angular"
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]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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@@ -152,7 +149,9 @@
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"description": "Duration to walk in seconds (0 = indefinite)"
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}
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},
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"required": ["speed"]
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"required": [
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"speed"
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]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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@@ -160,8 +159,16 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"linear": { "x": "{{speed}}", "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": 0 }
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"linear": {
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"x": "{{speed}}",
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"y": 0,
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"z": 0
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},
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"angular": {
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"x": 0,
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"y": 0,
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"z": 0
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}
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}
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}
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}
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@@ -192,7 +199,9 @@
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"description": "Duration to walk in seconds (0 = indefinite)"
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}
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},
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"required": ["speed"]
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"required": [
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"speed"
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]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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@@ -200,8 +209,16 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"linear": { "x": "-{{speed}}", "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": 0 }
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"linear": {
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"x": "-{{speed}}",
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"y": 0,
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"z": 0
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},
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"angular": {
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"x": 0,
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"y": 0,
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"z": 0
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}
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}
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}
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}
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@@ -232,7 +249,9 @@
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"description": "Duration to turn in seconds (0 = indefinite)"
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}
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},
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"required": ["speed"]
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"required": [
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"speed"
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]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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@@ -240,8 +259,16 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"linear": { "x": 0, "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": "{{speed}}" }
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"linear": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"angular": {
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"x": 0,
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"y": 0,
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"z": "{{speed}}"
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}
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}
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}
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}
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@@ -272,7 +299,9 @@
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"description": "Duration to turn in seconds (0 = indefinite)"
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}
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},
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"required": ["speed"]
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"required": [
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"speed"
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]
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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@@ -280,8 +309,16 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"linear": { "x": 0, "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": "-{{speed}}" }
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"linear": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"angular": {
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"x": 0,
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"y": 0,
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"z": "-{{speed}}"
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}
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}
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}
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}
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@@ -305,8 +342,16 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"linear": { "x": 0.0, "y": 0.0, "z": 0.0 },
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"angular": { "x": 0.0, "y": 0.0, "z": 0.0 }
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"linear": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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},
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"angular": {
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"x": 0.0,
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"y": 0.0,
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"z": 0.0
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}
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}
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},
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"qos": {
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@@ -334,7 +379,9 @@
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"description": "Text to speak"
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}
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},
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"required": ["text"]
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"required": [
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"text"
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]
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},
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"ros2": {
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"messageType": "std_msgs/msg/String",
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@@ -367,7 +414,13 @@
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},
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"emotion": {
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"type": "string",
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"enum": ["neutral", "happy", "sad", "excited", "calm"],
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"enum": [
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"neutral",
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"happy",
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"sad",
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"excited",
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"calm"
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],
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"default": "neutral",
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"description": "Emotional tone for speech"
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},
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@@ -379,7 +432,9 @@
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"description": "Speech speed multiplier"
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}
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},
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"required": ["text"]
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"required": [
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"text"
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]
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},
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"ros2": {
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"messageType": "std_msgs/msg/String",
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@@ -411,7 +466,9 @@
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"description": "Volume level (0.0 = silent, 1.0 = maximum)"
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}
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},
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"required": ["volume"]
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"required": [
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"volume"
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]
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},
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"ros2": {
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"messageType": "std_msgs/msg/Float32",
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@@ -452,7 +509,9 @@
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"description": "Speech language"
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}
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},
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"required": ["language"]
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"required": [
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"language"
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]
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},
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"ros2": {
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"messageType": "std_msgs/msg/String",
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@@ -498,7 +557,10 @@
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"description": "Movement speed (0.1 = slow, 1.0 = fast)"
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}
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},
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"required": ["yaw", "pitch"]
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"required": [
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"yaw",
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"pitch"
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]
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},
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"ros2": {
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"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
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@@ -506,8 +568,14 @@
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"payloadMapping": {
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"type": "static",
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"payload": {
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"joint_names": ["HeadYaw", "HeadPitch"],
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"joint_angles": ["{{yaw}}", "{{pitch}}"],
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"joint_names": [
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"HeadYaw",
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"HeadPitch"
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],
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"joint_angles": [
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"{{yaw}}",
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"{{pitch}}"
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],
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"speed": "{{speed}}"
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}
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}
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@@ -526,7 +594,10 @@
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"properties": {
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"arm": {
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"type": "string",
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"enum": ["left", "right"],
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"enum": [
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"left",
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"right"
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],
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"default": "right",
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"description": "Which arm to control"
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},
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@@ -653,7 +724,10 @@
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"description": "Movement speed (fraction of max)"
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}
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},
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"required": ["joint_name", "angle"]
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"required": [
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"joint_name",
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"angle"
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]
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},
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"ros2": {
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"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
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@@ -697,7 +771,10 @@
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"description": "Movement speed fraction"
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}
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},
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"required": ["yaw", "pitch"]
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"required": [
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"yaw",
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"pitch"
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]
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},
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"ros2": {
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"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
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@@ -721,16 +798,21 @@
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"properties": {
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"camera": {
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"type": "string",
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"enum": ["front", "bottom"],
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"enum": [
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"front",
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"bottom"
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],
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"default": "front",
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"description": "Camera to use"
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}
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},
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"required": ["camera"]
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"required": [
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"camera"
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]
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},
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"ros2": {
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"messageType": "sensor_msgs/msg/Image",
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"topic": "/camera/{camera}/image_raw",
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"topic": "/naoqi_driver/camera/{camera}/image_raw",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "getCameraImage"
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@@ -756,7 +838,7 @@
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},
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"ros2": {
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"messageType": "sensor_msgs/msg/JointState",
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"topic": "/joint_states",
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"topic": "/naoqi_driver/joint_states",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "getJointStates"
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@@ -782,7 +864,7 @@
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},
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"ros2": {
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"messageType": "sensor_msgs/msg/Imu",
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"topic": "/imu/torso",
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"topic": "/naoqi_driver/imu/torso",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "getImuData"
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@@ -808,7 +890,7 @@
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},
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"ros2": {
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"messageType": "naoqi_bridge_msgs/msg/Bumper",
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"topic": "/bumper",
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"topic": "/naoqi_driver/bumper",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "getBumperStatus"
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@@ -828,16 +910,21 @@
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"properties": {
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"sensor_type": {
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"type": "string",
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"enum": ["hand", "head"],
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"enum": [
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"hand",
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"head"
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],
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"default": "hand",
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"description": "Touch sensor type to read"
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}
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},
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"required": ["sensor_type"]
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"required": [
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"sensor_type"
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]
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},
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"ros2": {
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"messageType": "naoqi_bridge_msgs/msg/HandTouch",
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"topic": "/{sensor_type}_touch",
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"topic": "/naoqi_driver/{sensor_type}_touch",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "getTouchSensors"
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@@ -857,16 +944,22 @@
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"properties": {
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"sensor": {
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"type": "string",
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"enum": ["left", "right", "both"],
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"enum": [
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"left",
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"right",
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"both"
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],
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"default": "both",
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"description": "Sonar sensor to read"
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}
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},
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"required": ["sensor"]
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"required": [
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"sensor"
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]
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},
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"ros2": {
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"messageType": "sensor_msgs/msg/Range",
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"topic": "/sonar/{sensor}",
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"topic": "/naoqi_driver/sonar/{sensor}",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "getSonarRange"
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@@ -888,7 +981,7 @@
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},
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"ros2": {
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"messageType": "naoqi_bridge_msgs/msg/RobotInfo",
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"topic": "/info",
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"topic": "/naoqi_driver/info",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "getRobotInfo"
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Reference in New Issue
Block a user