nao_lola_client

Packages that allow communicating with the NAO’s Lola middle-ware.

README

nao_lola_client

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Description

Packages that allow communicating with the NAO’s Lola middle-ware.

This package provides a ROS2 client for interfacing with the NAO humanoid robot’s LoLA (Low Level Abstraction) middleware. It enables bidirectional communication with the NAO robot, continuously receiving sensor data and sending command data to control the robot’s actuators, LEDs, and sonar. The client handles msgpack-based serialization and deserialization of data exchanged with the robot’s middleware layer.

This is the recommended replacement for the deprecated nao_lola package.

Nodes

NaoLolaClient

A ROS2 node that provides a comprehensive interface to communicate with the NAO robot’s LoLA middleware. It publishes sensor data from the robot including accelerometer, angles, buttons, force-sensitive resistors (FSR), gyroscope, joint positions/stiffnesses/temperatures/currents/statuses, sonar, touch sensors, battery status, and robot configuration. The node subscribes to command topics for controlling joint positions and stiffnesses, as well as various LED configurations (chest, ears, eyes, feet, head) and sonar usage. Optionally, the node can publish standard ROS message types (sensor_msgs/Imu and sensor_msgs/JointState) for better integration with the ROS ecosystem.

Documentation

Maintainers

  • ijnek (kenjibrameld@gmail.com)

License

Apache License 2.0