mirror of
https://github.com/soconnor0919/robot-plugins.git
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900 lines
24 KiB
JSON
Executable File
900 lines
24 KiB
JSON
Executable File
{
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"robotId": "nao6-ros2",
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"name": "NAO6 Robot (ROS2 Integration)",
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"description": "NAO V6 humanoid robot with enhanced ROS2 integration via naoqi_driver2, featuring comprehensive movement control, advanced speech synthesis, emotion expression, multilingual support, and complete sensor monitoring",
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"platform": "ROS2",
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"version": "2.1.0",
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"pluginApiVersion": "1.0",
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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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"main": "assets/nao6-ros2/main.jpg",
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"angles": {
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"front": "assets/nao6-ros2/front.png",
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"side": "assets/nao6-ros2/side.png",
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"top": "assets/nao6-ros2/top.png"
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},
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"logo": "assets/nao6-ros2/logo.png"
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},
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"model": {
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"format": "URDF",
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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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"width": 0.311,
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"height": 0.574,
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"weight": 5.4
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},
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"capabilities": [
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"bipedal_walking",
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"speech_synthesis",
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"speech_recognition",
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"computer_vision",
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"gestures",
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"led_control",
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"tactile_sensing",
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"ultrasonic_ranging",
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"inertial_measurement"
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],
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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_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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"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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}
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},
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"actions": [
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{
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"id": "walk_velocity",
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"name": "Walk with Velocity",
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"description": "Control robot walking with linear and angular velocities",
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"category": "movement",
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"icon": "navigation",
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"timeout": 5000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"linear": {
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"type": "number",
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"minimum": -0.55,
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"maximum": 0.55,
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"default": 0.0,
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"description": "Forward velocity in m/s"
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},
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"angular": {
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"type": "number",
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"minimum": -2.0,
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"maximum": 2.0,
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"default": 0.0,
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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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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "transformToTwist"
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},
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"qos": {
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"reliability": "reliable",
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"durability": "volatile",
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"history": "keep_last",
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"depth": 1
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}
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}
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},
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{
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"id": "walk_forward",
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"name": "Walk Forward",
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"description": "Make the robot walk forward at specified speed",
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"category": "movement",
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"icon": "arrow-up",
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"timeout": 30000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"speed": {
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"type": "number",
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"minimum": 0.01,
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"maximum": 0.3,
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"default": 0.1,
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"description": "Walking speed in m/s"
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},
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"duration": {
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"type": "number",
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"minimum": 0,
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"maximum": 30,
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"default": 0,
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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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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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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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}
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}
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}
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},
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{
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"id": "walk_backward",
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"name": "Walk Backward",
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"description": "Make the robot walk backward at specified speed",
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"category": "movement",
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"icon": "arrow-down",
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"timeout": 30000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"speed": {
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"type": "number",
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"minimum": 0.01,
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"maximum": 0.3,
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"default": 0.1,
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"description": "Walking speed in m/s"
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},
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"duration": {
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"type": "number",
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"minimum": 0,
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"maximum": 30,
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"default": 0,
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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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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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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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}
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}
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}
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},
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{
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"id": "turn_left",
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"name": "Turn Left",
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"description": "Make the robot turn left at specified angular speed",
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"category": "movement",
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"icon": "rotate-ccw",
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"timeout": 30000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"speed": {
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"type": "number",
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"minimum": 0.1,
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"maximum": 1.0,
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"default": 0.3,
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"description": "Angular speed in rad/s"
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},
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"duration": {
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"type": "number",
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"minimum": 0,
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"maximum": 30,
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"default": 0,
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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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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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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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}
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}
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}
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},
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{
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"id": "turn_right",
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"name": "Turn Right",
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"description": "Make the robot turn right at specified angular speed",
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"category": "movement",
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"icon": "rotate-cw",
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"timeout": 30000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"speed": {
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"type": "number",
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"minimum": 0.1,
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"maximum": 1.0,
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"default": 0.3,
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"description": "Angular speed in rad/s"
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},
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"duration": {
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"type": "number",
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"minimum": 0,
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"maximum": 30,
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"default": 0,
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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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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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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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}
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}
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}
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},
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{
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"id": "stop_walking",
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"name": "Stop Walking",
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"description": "Immediately stop robot movement",
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"category": "movement",
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"icon": "square",
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"timeout": 3000,
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"retryable": false,
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"parameterSchema": {
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"type": "object",
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"properties": {},
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"required": []
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},
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"ros2": {
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"messageType": "geometry_msgs/msg/Twist",
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"topic": "/cmd_vel",
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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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}
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},
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"qos": {
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"reliability": "reliable",
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"durability": "volatile",
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"history": "keep_last",
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"depth": 1
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}
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}
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},
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{
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"id": "say_text",
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"name": "Say Text",
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"description": "Make the robot speak using text-to-speech",
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"category": "interaction",
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"icon": "volume-2",
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"timeout": 15000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"text": {
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"type": "string",
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"default": "Hello from NAO!",
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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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},
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"ros2": {
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"messageType": "std_msgs/msg/String",
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"topic": "/speech",
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"payloadMapping": {
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"type": "transform",
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"transformFn": "transformToStringMessage"
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},
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"qos": {
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"reliability": "reliable",
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"durability": "volatile"
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}
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}
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},
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{
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"id": "say_with_emotion",
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"name": "Say Text with Emotion",
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"description": "Speak text with emotional expression using SSML-like markup",
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"category": "interaction",
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"icon": "heart",
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"timeout": 15000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"text": {
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"type": "string",
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"default": "Hello! I'm feeling great today!",
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"description": "Text for the robot to speak"
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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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"default": "neutral",
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"description": "Emotional tone for speech"
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},
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"speed": {
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"type": "number",
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"minimum": 0.5,
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"maximum": 2.0,
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"default": 1.0,
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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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},
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"ros2": {
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"messageType": "std_msgs/msg/String",
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"topic": "/speech",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"data": "\\rspd={{speed}}\\\\rst={{emotion}}\\{{text}}"
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}
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}
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}
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},
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{
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"id": "set_volume",
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"name": "Set Volume",
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"description": "Adjust the robot's audio volume level",
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"category": "interaction",
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"icon": "volume-x",
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"timeout": 5000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"volume": {
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"type": "number",
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"minimum": 0.0,
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"maximum": 1.0,
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"default": 0.5,
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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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},
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"ros2": {
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"messageType": "std_msgs/msg/Float32",
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"topic": "/audio_volume",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"data": "{{volume}}"
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}
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}
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}
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},
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{
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"id": "set_language",
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"name": "Set Language",
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"description": "Change the robot's speech language",
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"category": "interaction",
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"icon": "globe",
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"timeout": 5000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"language": {
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"type": "string",
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"enum": [
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"en-US",
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"en-GB",
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"fr-FR",
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"de-DE",
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"es-ES",
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"it-IT",
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"ja-JP",
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"ko-KR",
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"zh-CN"
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],
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"default": "en-US",
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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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},
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"ros2": {
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"messageType": "std_msgs/msg/String",
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"topic": "/set_language",
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"payloadMapping": {
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"type": "static",
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"payload": {
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"data": "{{language}}"
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}
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}
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}
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},
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{
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"id": "move_head",
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"name": "Move Head",
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"description": "Control head orientation (yaw and pitch)",
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"category": "movement",
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"icon": "eye",
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"timeout": 10000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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"properties": {
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"yaw": {
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"type": "number",
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"minimum": -2.09,
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"maximum": 2.09,
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"default": 0,
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"description": "Head yaw angle in radians"
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},
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"pitch": {
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"type": "number",
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"minimum": -0.67,
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"maximum": 0.51,
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"default": 0,
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"description": "Head pitch angle in radians"
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},
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"speed": {
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"type": "number",
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"minimum": 0.1,
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"maximum": 1.0,
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"default": 0.3,
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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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},
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"ros2": {
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"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
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"topic": "/joint_angles",
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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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"speed": "{{speed}}"
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}
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}
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}
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},
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{
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"id": "move_arm",
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"name": "Move Arm",
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"description": "Control arm joint positions",
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"category": "movement",
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"icon": "hand",
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"timeout": 10000,
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"retryable": true,
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"parameterSchema": {
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"type": "object",
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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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"default": "right",
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"description": "Which arm to control"
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},
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"shoulder_pitch": {
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"type": "number",
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"minimum": -2.09,
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"maximum": 2.09,
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"default": 1.4,
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"description": "Shoulder pitch angle in radians"
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},
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"shoulder_roll": {
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"type": "number",
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"minimum": -0.31,
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"maximum": 1.33,
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"default": 0.2,
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"description": "Shoulder roll angle in radians"
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},
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"elbow_yaw": {
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"type": "number",
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"minimum": -2.09,
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"maximum": 2.09,
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"default": 0,
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"description": "Elbow yaw angle in radians"
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},
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"elbow_roll": {
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"type": "number",
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"minimum": -1.54,
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"maximum": -0.03,
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|
"default": -0.5,
|
|
"description": "Elbow roll angle in radians"
|
|
},
|
|
"speed": {
|
|
"type": "number",
|
|
"minimum": 0.1,
|
|
"maximum": 1.0,
|
|
"default": 0.3,
|
|
"description": "Movement speed (0.1 = slow, 1.0 = fast)"
|
|
}
|
|
},
|
|
"required": [
|
|
"arm",
|
|
"shoulder_pitch",
|
|
"shoulder_roll",
|
|
"elbow_yaw",
|
|
"elbow_roll"
|
|
]
|
|
},
|
|
"ros2": {
|
|
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
|
|
"topic": "/joint_angles",
|
|
"payloadMapping": {
|
|
"type": "static",
|
|
"payload": {
|
|
"joint_names": [
|
|
"{{arm === 'left' ? 'L' : 'R'}}ShoulderPitch",
|
|
"{{arm === 'left' ? 'L' : 'R'}}ShoulderRoll",
|
|
"{{arm === 'left' ? 'L' : 'R'}}ElbowYaw",
|
|
"{{arm === 'left' ? 'L' : 'R'}}ElbowRoll"
|
|
],
|
|
"joint_angles": [
|
|
"{{shoulder_pitch}}",
|
|
"{{shoulder_roll}}",
|
|
"{{elbow_yaw}}",
|
|
"{{elbow_roll}}"
|
|
],
|
|
"speed": "{{speed}}"
|
|
}
|
|
}
|
|
}
|
|
},
|
|
{
|
|
"id": "set_joint_angle",
|
|
"name": "Set Joint Angle",
|
|
"description": "Control individual joint angles",
|
|
"category": "movement",
|
|
"icon": "settings",
|
|
"timeout": 10000,
|
|
"retryable": true,
|
|
"parameterSchema": {
|
|
"type": "object",
|
|
"properties": {
|
|
"joint_name": {
|
|
"type": "string",
|
|
"enum": [
|
|
"HeadYaw",
|
|
"HeadPitch",
|
|
"LShoulderPitch",
|
|
"LShoulderRoll",
|
|
"LElbowYaw",
|
|
"LElbowRoll",
|
|
"LWristYaw",
|
|
"RShoulderPitch",
|
|
"RShoulderRoll",
|
|
"RElbowYaw",
|
|
"RElbowRoll",
|
|
"RWristYaw",
|
|
"LHipYawPitch",
|
|
"LHipRoll",
|
|
"LHipPitch",
|
|
"LKneePitch",
|
|
"LAnklePitch",
|
|
"LAnkleRoll",
|
|
"RHipRoll",
|
|
"RHipPitch",
|
|
"RKneePitch",
|
|
"RAnklePitch",
|
|
"RAnkleRoll"
|
|
],
|
|
"default": "HeadYaw",
|
|
"description": "Joint to control"
|
|
},
|
|
"angle": {
|
|
"type": "number",
|
|
"minimum": -3.14159,
|
|
"maximum": 3.14159,
|
|
"default": 0.0,
|
|
"description": "Target angle in radians"
|
|
},
|
|
"speed": {
|
|
"type": "number",
|
|
"minimum": 0.01,
|
|
"maximum": 1.0,
|
|
"default": 0.2,
|
|
"description": "Movement speed (fraction of max)"
|
|
}
|
|
},
|
|
"required": ["joint_name", "angle"]
|
|
},
|
|
"ros2": {
|
|
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
|
|
"topic": "/joint_angles",
|
|
"payloadMapping": {
|
|
"type": "transform",
|
|
"transformFn": "transformToJointAngles"
|
|
}
|
|
}
|
|
},
|
|
{
|
|
"id": "turn_head",
|
|
"name": "Turn Head",
|
|
"description": "Control head orientation",
|
|
"category": "movement",
|
|
"icon": "rotate-ccw",
|
|
"timeout": 8000,
|
|
"retryable": true,
|
|
"parameterSchema": {
|
|
"type": "object",
|
|
"properties": {
|
|
"yaw": {
|
|
"type": "number",
|
|
"minimum": -2.0857,
|
|
"maximum": 2.0857,
|
|
"default": 0.0,
|
|
"description": "Head yaw angle in radians (left-right)"
|
|
},
|
|
"pitch": {
|
|
"type": "number",
|
|
"minimum": -0.672,
|
|
"maximum": 0.5149,
|
|
"default": 0.0,
|
|
"description": "Head pitch angle in radians (up-down)"
|
|
},
|
|
"speed": {
|
|
"type": "number",
|
|
"minimum": 0.1,
|
|
"maximum": 1.0,
|
|
"default": 0.3,
|
|
"description": "Movement speed fraction"
|
|
}
|
|
},
|
|
"required": ["yaw", "pitch"]
|
|
},
|
|
"ros2": {
|
|
"messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
|
|
"topic": "/joint_angles",
|
|
"payloadMapping": {
|
|
"type": "transform",
|
|
"transformFn": "transformToHeadMovement"
|
|
}
|
|
}
|
|
},
|
|
{
|
|
"id": "get_camera_image",
|
|
"name": "Get Camera Image",
|
|
"description": "Capture image from front or bottom camera",
|
|
"category": "sensors",
|
|
"icon": "camera",
|
|
"timeout": 5000,
|
|
"retryable": true,
|
|
"parameterSchema": {
|
|
"type": "object",
|
|
"properties": {
|
|
"camera": {
|
|
"type": "string",
|
|
"enum": ["front", "bottom"],
|
|
"default": "front",
|
|
"description": "Camera to use"
|
|
}
|
|
},
|
|
"required": ["camera"]
|
|
},
|
|
"ros2": {
|
|
"messageType": "sensor_msgs/msg/Image",
|
|
"topic": "/camera/{camera}/image_raw",
|
|
"payloadMapping": {
|
|
"type": "transform",
|
|
"transformFn": "getCameraImage"
|
|
},
|
|
"qos": {
|
|
"reliability": "reliable",
|
|
"durability": "volatile"
|
|
}
|
|
}
|
|
},
|
|
{
|
|
"id": "get_joint_states",
|
|
"name": "Get Joint States",
|
|
"description": "Read current joint positions and velocities",
|
|
"category": "sensors",
|
|
"icon": "activity",
|
|
"timeout": 3000,
|
|
"retryable": true,
|
|
"parameterSchema": {
|
|
"type": "object",
|
|
"properties": {},
|
|
"required": []
|
|
},
|
|
"ros2": {
|
|
"messageType": "sensor_msgs/msg/JointState",
|
|
"topic": "/joint_states",
|
|
"payloadMapping": {
|
|
"type": "transform",
|
|
"transformFn": "getJointStates"
|
|
},
|
|
"qos": {
|
|
"reliability": "reliable",
|
|
"durability": "volatile"
|
|
}
|
|
}
|
|
},
|
|
{
|
|
"id": "get_imu_data",
|
|
"name": "Get IMU Data",
|
|
"description": "Read inertial measurement unit data from torso",
|
|
"category": "sensors",
|
|
"icon": "compass",
|
|
"timeout": 3000,
|
|
"retryable": true,
|
|
"parameterSchema": {
|
|
"type": "object",
|
|
"properties": {},
|
|
"required": []
|
|
},
|
|
"ros2": {
|
|
"messageType": "sensor_msgs/msg/Imu",
|
|
"topic": "/imu/torso",
|
|
"payloadMapping": {
|
|
"type": "transform",
|
|
"transformFn": "getImuData"
|
|
},
|
|
"qos": {
|
|
"reliability": "reliable",
|
|
"durability": "volatile"
|
|
}
|
|
}
|
|
},
|
|
{
|
|
"id": "get_bumper_status",
|
|
"name": "Get Bumper Status",
|
|
"description": "Read foot bumper contact sensors",
|
|
"category": "sensors",
|
|
"icon": "zap",
|
|
"timeout": 3000,
|
|
"retryable": true,
|
|
"parameterSchema": {
|
|
"type": "object",
|
|
"properties": {},
|
|
"required": []
|
|
},
|
|
"ros2": {
|
|
"messageType": "naoqi_bridge_msgs/msg/Bumper",
|
|
"topic": "/bumper",
|
|
"payloadMapping": {
|
|
"type": "transform",
|
|
"transformFn": "getBumperStatus"
|
|
}
|
|
}
|
|
},
|
|
{
|
|
"id": "get_touch_sensors",
|
|
"name": "Get Touch Sensors",
|
|
"description": "Read hand and head touch sensor states",
|
|
"category": "sensors",
|
|
"icon": "hand",
|
|
"timeout": 3000,
|
|
"retryable": true,
|
|
"parameterSchema": {
|
|
"type": "object",
|
|
"properties": {
|
|
"sensor_type": {
|
|
"type": "string",
|
|
"enum": ["hand", "head"],
|
|
"default": "hand",
|
|
"description": "Touch sensor type to read"
|
|
}
|
|
},
|
|
"required": ["sensor_type"]
|
|
},
|
|
"ros2": {
|
|
"messageType": "naoqi_bridge_msgs/msg/HandTouch",
|
|
"topic": "/{sensor_type}_touch",
|
|
"payloadMapping": {
|
|
"type": "transform",
|
|
"transformFn": "getTouchSensors"
|
|
}
|
|
}
|
|
},
|
|
{
|
|
"id": "get_sonar_range",
|
|
"name": "Get Sonar Range",
|
|
"description": "Read ultrasonic range sensor data",
|
|
"category": "sensors",
|
|
"icon": "radio",
|
|
"timeout": 3000,
|
|
"retryable": true,
|
|
"parameterSchema": {
|
|
"type": "object",
|
|
"properties": {
|
|
"sensor": {
|
|
"type": "string",
|
|
"enum": ["left", "right", "both"],
|
|
"default": "both",
|
|
"description": "Sonar sensor to read"
|
|
}
|
|
},
|
|
"required": ["sensor"]
|
|
},
|
|
"ros2": {
|
|
"messageType": "sensor_msgs/msg/Range",
|
|
"topic": "/sonar/{sensor}",
|
|
"payloadMapping": {
|
|
"type": "transform",
|
|
"transformFn": "getSonarRange"
|
|
}
|
|
}
|
|
},
|
|
{
|
|
"id": "get_robot_info",
|
|
"name": "Get Robot Info",
|
|
"description": "Read general robot information and status",
|
|
"category": "sensors",
|
|
"icon": "info",
|
|
"timeout": 3000,
|
|
"retryable": true,
|
|
"parameterSchema": {
|
|
"type": "object",
|
|
"properties": {},
|
|
"required": []
|
|
},
|
|
"ros2": {
|
|
"messageType": "naoqi_bridge_msgs/msg/RobotInfo",
|
|
"topic": "/info",
|
|
"payloadMapping": {
|
|
"type": "transform",
|
|
"transformFn": "getRobotInfo"
|
|
}
|
|
}
|
|
}
|
|
]
|
|
}
|