- Redesign beckon as 3-phase gesture_sequence (both arms open wide then
sweep inward then return to neutral) instead of a single static pose
- Fix wake_up/rest to use service payloadMapping type targeting
ALMotion ROS2 services instead of publishing to /dummy topic
- Fix nod: double-nod sequence with return to neutral (was single frame)
- Fix shake_head: left/right/left/center sequence (was single frame)
- Fix bow: pitch down + return to neutral (was single frame only)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Change open_hand_wave, show_sole, present_object, think to use /joint_angles
- Change play_animation to Say Phrase with animated speech
- Animation ^start() markup doesn't work with ALTextToSpeech
- Joint angles work reliably with ALMotion
- Add open_hand_wave, show_sole, present_object, beckon, think gestures
- Add set_posture for posture control (Stand, Crouch, Sit, etc.)
- Add pause_motion and stop_motion for motion control
- Use NAOqi commands via /speech topic
- Update play_animation with additional animations
- Remove /naoqi_driver/ prefix from all topic names
- Topics are published/subscribed without prefix in naoqi_driver
- Affects: cmd_vel, joint_states, joint_angles, cameras, imu, speech, bumper, touch sensors, sonar, info
This fixes the mismatch between plugin topic definitions and actual ROS topics exposed by the naoqi_driver node.
ENHANCED ACTIONS:
- Movement: walk_forward, walk_backward, turn_left, turn_right with duration control
- Head Control: move_head with precise yaw/pitch positioning and speed control
- Arm Control: move_arm with full shoulder/elbow joint manipulation
- Advanced Speech: say_with_emotion supporting 5 emotional expressions
- Audio Control: set_volume and set_language with 9 language support
IMPROVEMENTS:
- Parameter validation with min/max ranges and step controls
- Duration-based movement commands for precise control
- Template-based payload mapping for dynamic parameters
- Enhanced descriptions and user-friendly parameter names
- Safety limits matching NAO6 hardware constraints
Version bump: 2.0.0 → 2.1.0
Ready for HRIStudio wizard interface integration and real-time robot control during trials.
soconnor
HRIStudio Integration