NaoLola

Node Description

The NaoLola node provides a ROS2 interface to communicate with the NAO robot’s LoLa (Low Level Abstraction) middleware. It continuously receives sensor data from the robot and sends command data to control the robot’s actuators, LEDs, and sonar.

Note: This package is deprecated. Please use nao_lola_client instead. This package will be removed in K-turtle.

Publishers

Topic	Message Type	Description
sensors/accelerometer	nao_sensor_msgs/msg/Accelerometer	Publishes accelerometer sensor data from the NAO robot
sensors/angle	nao_sensor_msgs/msg/Angle	Publishes angle sensor data from the NAO robot
sensors/buttons	nao_sensor_msgs/msg/Buttons	Publishes button state data from the NAO robot
sensors/fsr	nao_sensor_msgs/msg/FSR	Publishes force-sensitive resistor (foot pressure) data
sensors/gyroscope	nao_sensor_msgs/msg/Gyroscope	Publishes gyroscope sensor data from the NAO robot
sensors/joint_positions	nao_sensor_msgs/msg/JointPositions	Publishes current joint position data
sensors/joint_stiffnesses	nao_sensor_msgs/msg/JointStiffnesses	Publishes current joint stiffness data
sensors/joint_temperatures	nao_sensor_msgs/msg/JointTemperatures	Publishes joint temperature data
sensors/joint_currents	nao_sensor_msgs/msg/JointCurrents	Publishes joint current consumption data
sensors/joint_statuses	nao_sensor_msgs/msg/JointStatuses	Publishes joint status information
sensors/sonar	nao_sensor_msgs/msg/Sonar	Publishes sonar distance sensor data
sensors/touch	nao_sensor_msgs/msg/Touch	Publishes touch sensor data
sensors/battery	nao_sensor_msgs/msg/Battery	Publishes battery status information
sensors/robot_config	nao_sensor_msgs/msg/RobotConfig	Publishes robot configuration information

Subscribers

Topic	Message Type	Description
effectors/joint_positions	nao_command_msgs/msg/JointPositions	Receives desired joint position commands
effectors/joint_stiffnesses	nao_command_msgs/msg/JointStiffnesses	Receives desired joint stiffness commands
effectors/chest_led	nao_command_msgs/msg/ChestLed	Receives chest LED color commands
effectors/left_ear_leds	nao_command_msgs/msg/LeftEarLeds	Receives left ear LED commands
effectors/right_ear_leds	nao_command_msgs/msg/RightEarLeds	Receives right ear LED commands
effectors/left_eye_leds	nao_command_msgs/msg/LeftEyeLeds	Receives left eye LED commands
effectors/right_eye_leds	nao_command_msgs/msg/RightEyeLeds	Receives right eye LED commands
effectors/left_foot_led	nao_command_msgs/msg/LeftFootLed	Receives left foot LED commands
effectors/right_foot_led	nao_command_msgs/msg/RightFootLed	Receives right foot LED commands
effectors/head_leds	nao_command_msgs/msg/HeadLeds	Receives head LED commands
effectors/sonar_usage	nao_command_msgs/msg/SonarUsage	Receives sonar usage configuration

Parameters

This node does not declare any ROS parameters.

Example Usage

To run the node:

ros2 run nao_lola nao_lola