This is a ROS2 interface package for the Softbank NAO robot. Custom message types specific to the NAO robot are defined in this package, and are explained in these docs.
The project is hosted on Github.
Sensor Msgs page explains all msgs that can be used to read sensor information, such as joint angles, sonar readings, etc.
Command Msgs page explains all msgs that can be used to command the robot, to move joints, light up leds, etc.
Joints page explains in detail, how to read sensor information and write commands for the NAO’s joints, along with some examples.
Leds page describes in detail, the name and position of each led on the robot, with examples on how to set the intensity and color for them.