Command Msgs
Warning
This package is deprecated as of ROS 2 J-turtle (and ROS 2 Rolling). A drop-in replacement for the interface packages are provided by the Nao LoLA repository, please use that instead.
The package nao_command_msgs defines msgs used to send commands to the underlying NAO hardware.
Joints
JointPositions
By being able to specify the indexes, we can have different nodes sending partial joint position commands.
# Message to specify positions for the NAO's motor joints.
#
# Each joint is uniquely identified by its index (See JointIndexes.msg)
#
# The two arrays in this message should have the same size, where the first item
# in indexes, corresponds to the first item in positions, etc.
uint8[] indexes # See JointIndexes.msg (eg. JointIndexes::HEADYAW)
float32[] positions # radians
JointStiffnesses
By being able to specify the indexes, we can have different nodes sending partial joint stiffness commands.
# Message to specify stiffnesses for the NAO's motor joints.
#
# Each joint is uniquely identified by its index (See JointIndexes.msg)
#
# The two arrays in this message should have the same size, where the first item
# in indexes, corresponds to the first item in stiffnesses, etc.
uint8[] indexes # See JointIndexes.msg (eg. JointIndexes::HEADYAW)
float32[] stiffnesses # 0.0 - 1.0
RGB Leds
Msgs that use std_msgs/ColorRGBA to specify colors for the RGB LEDs.
Note
Expect ranges for R, G and B are 0.0 - 1.0. The alpha value (A) is ignored.
ChestLed
A single RGB led in the chest.
std_msgs/ColorRGBA color # r, g, b should be 0.0 - 1.0. a is ignored
LeftEyeLeds
See Left Eye Leds to see which indexes correspond to which led.
std_msgs/ColorRGBA[8] colors
LeftFootLed
A single RGB led in the left foot.
std_msgs/ColorRGBA color
RightEyeLeds
See Right Eye Leds to see which indexes correspond to which led.
std_msgs/ColorRGBA[8] colors
RightFootLed
A single RGB led in the right foot.
std_msgs/ColorRGBA color
Blue Leds
Msgs that specify intensity of the blue leds.
HeadLeds
See Head Leds to see which indexes correspond to which led.
float32[12] intensities # 0.0 - 1.0
LeftEarLeds
See Left Ear Leds to see which indexes correspond to which led.
float32[10] intensities # 0.0 - 1.0
RightEarLeds
See Right Ear Leds to see which indexes correspond to which led.
float32[10] intensities # 0.0 - 1.0
SonarUsage
Command to tell Lola whether to enable/disable the sonar.
bool left # Set to true, to use left sonar
bool right # Set to true, to use right sonar