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Nodes

camera

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.

microphone

Publish audio buffers from microphones

Published Topics

~audio_raw (naoqi_msgs/AudioBuffer)

• Raw audio buffers

Parameters

~use_ros_time (boolean, default: True)

• Timestamp audio buffers using ros::Time::now() instead of NAOqi timestamps

~frequency (integer, default: 16000)

• Audio sampling frequency

sonar

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

Published Topics

sonar (sensor_msgs/Range)

• Sonar readings

Parameters

~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.