Les paquets¶

• Le paquet Naoqi_driver : lien

Ce paquet permet de créer un pont entre l’ordinateur et le robot Pepper sous Ros, il fournit plusieurs topics permettant de commander Pepper (le déplacement, bouger les articulations ...) aussi de recevoir des données (l’odométrie, les données des capteurs, l’état des boutons tactiles ...).
La ligne de commande suivante permet d’installer ce paquet sur l’ordinateur depuis les site web GitHub :

 git clone https://github.com/ros-naoqi/naoqi_driver.git 

Le nom du nœud : naoqi_driver_node

La liste des topics du paquet naoqi_driver :

/cmd_vel
/joint_angles
/joint_states
/naoqi_driver/audio
/naoqi_driver/camera/bottom/camera_info
/naoqi_driver/camera/bottom/image_raw
/naoqi_driver/camera/bottom/image_raw/compressed
/naoqi_driver/camera/bottom/image_raw/compressed/parameter_descriptions
/naoqi_driver/camera/bottom/image_raw/compressed/parameter_updates
/naoqi_driver/camera/bottom/image_raw/theora
/naoqi_driver/camera/bottom/image_raw/theora/parameter_descriptions
/naoqi_driver/camera/bottom/image_raw/theora/parameter_updates
/naoqi_driver/camera/depth/camera_info
/naoqi_driver/camera/depth/image_raw
/naoqi_driver/camera/depth/image_raw/compressed
/naoqi_driver/camera/depth/image_raw/compressed/parameter_descriptions
/naoqi_driver/camera/depth/image_raw/compressed/parameter_updates
/naoqi_driver/camera/depth/image_raw/compressedDepth
/naoqi_driver/camera/depth/image_raw/compressedDepth/parameter_descriptions
/naoqi_driver/camera/depth/image_raw/compressedDepth/parameter_updates
/naoqi_driver/camera/depth/image_raw/theora
/naoqi_driver/camera/depth/image_raw/theora/parameter_descriptions
/naoqi_driver/camera/depth/image_raw/theora/parameter_updates
/naoqi_driver/camera/front/camera_info
/naoqi_driver/camera/front/image_raw
/naoqi_driver/camera/front/image_raw/compressed
/naoqi_driver/camera/front/image_raw/compressed/parameter_descriptions
/naoqi_driver/camera/front/image_raw/compressed/parameter_updates
/naoqi_driver/camera/front/image_raw/theora
/naoqi_driver/camera/front/image_raw/theora/parameter_descriptions
/naoqi_driver/camera/front/image_raw/theora/parameter_updates
/naoqi_driver/camera/ir/camera_info
/naoqi_driver/camera/ir/image_raw
/naoqi_driver/camera/ir/image_raw/compressed
/naoqi_driver/camera/ir/image_raw/compressed/parameter_descriptions
/naoqi_driver/camera/ir/image_raw/compressed/parameter_updates
/naoqi_driver/camera/ir/image_raw/theora
/naoqi_driver/camera/ir/image_raw/theora/parameter_descriptions
/naoqi_driver/camera/ir/image_raw/theora/parameter_updates
/naoqi_driver/imu/base
/naoqi_driver/imu/torso
/naoqi_driver/info
/naoqi_driver/laser
/naoqi_driver/odom
/naoqi_driver/sonar/back
/naoqi_driver/sonar/front
/tf