[ros-users] Nao stack v0.3 released

[cyril.L]

Taylor, NAO's camera / ROS Image bridge can be done easily.
In my current experimental setup, a ROS master runs on a PC, some nodes runs on NAO.
I made this camera bridge running on NAO, but I guess it can work remotely although I don't know if it will lag.

http://pastebin.com/vUh459KB

You will need to add the following in your CMakeLists.txt (you can also convert it in python :p)
rosbuild_add_executable(camera src/camera.cpp)
use_lib(camera ALCOMMON)

For those interested, I get mono 160x120 raw ROS images in real time over a wireless network, 320x240 works pretty well too.
Unfortunately image transport can't help here, compression on NAO takes more time than sending the raw image...
Let me know if getting images through a remote NaoQi works well.

An other thing regarding ROS cross compilation, apr, apr-utils and logcxx were already installed on my NAO (1.10.21).

Thanks for the great work Armin!

cyril

Le 2011-04-07 à 01:16, Taylor Veltrop a écrit :

> Great, thanks!
> 
> Are there any plans to include an interface between NAO's cameras and the ROS Image message api?
> 
> Right now I am trying to navigate NAO to a red cup for the RoboGames autonomous basketball challenge.  I've been using the NAOqi api for everything on this, but considering the possibilities of using your humanoid_navigation stack.
> 
> Taylor
> 
> On Apr 7, 2011, at 2:01 PM, Armin Hornung wrote:
> 
>> Dear ROS (and Nao) users,
>> 
>> I'm happy to announce the release of version 0.3 of the "nao" stack 
>> (http://www.ros.org/wiki/nao). Along with many bugfixes and 
>> improvements, it is now compatible to ROS cturtle and diamondback with 
>> NaoQI 1.6-1.10. The packages were restructured with all messages now in 
>> nao_msgs (more general and Nao-independent ones are in 
>> humanoid_nav_msgs) for cleaner dependencies. The new nao_tactile node 
>> allows access to Nao's bumpers and touch sensors (thanks to Stefan 
>> Osswald), and a new base_footprint frame enables a better compatibility 
>> with existing planning methods (thanks to Daniel Maier). For a complete 
>> changelog, see:
>> http://www.ros.org/wiki/nao/ChangeList
>> 
>> The source package release is available at:
>> http://code.google.com/p/alufr-ros-pkg/downloads/list
>> 
>> or via source checkout from Freiburg's ROS repository:
>> http://alufr-ros-pkg.googlecode.com/svn/trunk/nao/
>> 
>> Best regards,
>> Armin
>> 
>> -- 
>> Armin Hornung
>> Humanoid Robots Lab, Albert-Ludwigs-Universität Freiburg
>> Contact: http://www.informatik.uni-freiburg.de/~hornunga
>> 
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