camera publishes Nao's camera image by wrapping the Aldebaran Python NaoQI API. Note that there is a Python and a C++ version of this node. The camera node provides a camera info manager and is compatible with the camera_calibration package. Use rqt_reconfigure to select the camera and to change the camera parameters on the fly.

Published Topics

image_raw (sensor_msgs/Image)
  • Image stream (by default bgr8 encoding)
camera_info (sensor_msgs/CameraInfo)
  • Camera info providing the camera calibration data if available.


Publish audio buffers from microphones

Published Topics

~audio_raw (naoqi_msgs/AudioBuffer)
  • Raw audio buffers


~use_ros_time (boolean, default: True)
  • Timestamp audio buffers using ros::Time::now() instead of NAOqi timestamps
~frequency (integer, default: 16000)
  • Audio sampling frequency


Node that publishes readings from the robot's sonar sensors in its chest.

Published Topics

sonar (sensor_msgs/Range)
  • Sonar readings


~memory_key (string)
  • ALMemory key for the sensor readings. For Nao robots the keys are Device/SubDeviceList/US/Left/Sensor/Value or Device/SubDeviceList/US/Right/Sensor/Value.
~frame_id (string)
  • TF frame for the sensor readings. For Nao robots the frames are LSonar_frame or RSonar_frame.
~sonar_rate (float, default: 10.0)
  • Rate for publishing the sonar readings in Hz.

Wiki: naoqi_sensors_py (last edited 2015-08-03 15:18:11 by KarstenKnese)