naoqi_bridge_msgs¶

Message types¶

• naoqi_bridge_msgs/MemoryList
• naoqi_bridge_msgs/AudioBuffer
• naoqi_bridge_msgs/FloatStamped
• naoqi_bridge_msgs/StringStamped
• naoqi_bridge_msgs/PoseWithConfidenceStamped
• naoqi_bridge_msgs/JointAngleTrajectory
• naoqi_bridge_msgs/MemoryPairFloat
• naoqi_bridge_msgs/WordRecognized
• naoqi_bridge_msgs/StringArrayStamped
• naoqi_bridge_msgs/EventStamped
• naoqi_bridge_msgs/FadeRGB
• naoqi_bridge_msgs/Bumper
• naoqi_bridge_msgs/MemoryPairString
• naoqi_bridge_msgs/IntArrayStamped
• naoqi_bridge_msgs/JointAnglesWithSpeed
• naoqi_bridge_msgs/RobotInfo
• naoqi_bridge_msgs/StatusChangeStamped
• naoqi_bridge_msgs/FloatArrayStamped
• naoqi_bridge_msgs/FaceROI
• naoqi_bridge_msgs/BoolStamped
• naoqi_bridge_msgs/BodyROI
• naoqi_bridge_msgs/MemoryPairInt
• naoqi_bridge_msgs/IntStamped
• naoqi_bridge_msgs/TactileTouch

naoqi_bridge_msgs/MemoryList¶

Field:	header (std_msgs/Header) – strings[] (naoqi_bridge_msgs/MemoryPairString) – ints[] (naoqi_bridge_msgs/MemoryPairInt) – floats[] (naoqi_bridge_msgs/MemoryPairFloat) –

Header header
MemoryPairString[] strings
MemoryPairInt[] ints
MemoryPairFloat[] floats

naoqi_bridge_msgs/AudioBuffer¶

Field:	header (std_msgs/Header) – frequency (uint16) – channelMap[] (uint8) – data[] (int16) –
Constant:	CHANNEL_FRONT_LEFT (uint8):0 – CHANNEL_FRONT_CENTER (uint8):1 – CHANNEL_FRONT_RIGHT (uint8):2 – CHANNEL_REAR_LEFT (uint8):3 – CHANNEL_REAR_CENTER (uint8):4 – CHANNEL_REAR_RIGHT (uint8):5 – CHANNEL_SURROUND_LEFT (uint8):6 – CHANNEL_SURROUND_RIGHT (uint8):7 – CHANNEL_SUBWOOFER (uint8):8 – CHANNEL_LFE (uint8):9 –

timestanp the audio buffer

# timestanp the audio buffer
Header header
# current frequency of the audio interface
uint16 frequency
# channel order properties :
uint8 CHANNEL_FRONT_LEFT=0
uint8 CHANNEL_FRONT_CENTER=1
uint8 CHANNEL_FRONT_RIGHT=2
uint8 CHANNEL_REAR_LEFT=3
uint8 CHANNEL_REAR_CENTER=4
uint8 CHANNEL_REAR_RIGHT=5
uint8 CHANNEL_SURROUND_LEFT=6
uint8 CHANNEL_SURROUND_RIGHT=7
uint8 CHANNEL_SUBWOOFER=8
uint8 CHANNEL_LFE=9
# channel order of the current buffer
uint8[] channelMap
# interlaced data of the audio buffer
int16[] data

naoqi_bridge_msgs/FloatStamped¶

Field:	header (std_msgs/Header) – data (float32) –

Header header
float32 data

naoqi_bridge_msgs/StringStamped¶

Field:	header (std_msgs/Header) – data (string) –

Header header
string data

naoqi_bridge_msgs/PoseWithConfidenceStamped¶

Field:	header (std_msgs/Header) – pose (geometry_msgs/Pose) – confidence_index (float32) –

Header header
geometry_msgs/Pose pose
float32 confidence_index

naoqi_bridge_msgs/JointAngleTrajectory¶

Field:	header (std_msgs/Header) – joint_names[] (string) – joint_angles[] (float32) – times[] (float32) – relative (uint8) –

Header header

# A list of joint names, corresponding to their names in the Nao docs.
# This must be either the same lenght of joint_angles or 1 if it's a
# keyword such as 'Body' (for all angles)
string[] joint_names
float32[] joint_angles
float32[] times

# Absolute angle(=0, default) or relative change
uint8 relative

naoqi_bridge_msgs/MemoryPairFloat¶

Field:	memoryKey (string) – data (float32) –

string memoryKey
float32 data

naoqi_bridge_msgs/WordRecognized¶

Field:	words[] (string) – confidence_values[] (float32) –

Message emitted by Nao speech recognition. It contains the list of words recognized and confidence values Both arrays are of the same length

# Message emitted by Nao speech recognition.
# It contains the list of words recognized and confidence values
# Both arrays are of the same length
string[] words
float32[] confidence_values

naoqi_bridge_msgs/StringArrayStamped¶

Field:	header (std_msgs/Header) – data[] (string) –

Header header
string[] data

naoqi_bridge_msgs/EventStamped¶

Field:	header (std_msgs/Header) – name (std_msgs/String) – data (std_msgs/String) –

Header header
std_msgs/String name
std_msgs/String data

naoqi_bridge_msgs/FadeRGB¶

Field:	led_name (string) – color (std_msgs/ColorRGBA) – fade_duration (duration) –

Message to fade leds

#Message to fade leds
string led_name
std_msgs/ColorRGBA color
duration fade_duration

naoqi_bridge_msgs/Bumper¶

Field:	bumper (uint8) – state (uint8) –
Constant:	right (uint8):0 – left (uint8):1 – stateReleased (uint8):0 – statePressed (uint8):1 –

A message for Nao’s bumpers on the feet

# A message for Nao's bumpers on the feet

uint8 bumper            # which bumper (left or right)
uint8 state             # state of the bumper (pressed or released)

uint8 right=0
uint8 left=1

uint8 stateReleased=0
uint8 statePressed=1

naoqi_bridge_msgs/MemoryPairString¶

Field:	memoryKey (string) – data (string) –

string memoryKey
string data

naoqi_bridge_msgs/IntArrayStamped¶

Field:	header (std_msgs/Header) – data[] (int32) –

Header header
int32[] data

naoqi_bridge_msgs/JointAnglesWithSpeed¶

Field:	header (std_msgs/Header) – joint_names[] (string) – joint_angles[] (float32) – speed (float32) – relative (uint8) –

Header header

# A list of joint names, corresponding to their names in the Nao docs.
# This must be either the same lenght of joint_angles or 1 if it's a
# keyword such as 'Body' (for all angles)
string[] joint_names
float32[] joint_angles

#fraction of max joint velocity [0:1]
float32 speed

# Absolute angle(=0, default) or relative change
uint8 relative

naoqi_bridge_msgs/RobotInfo¶

Constant:	NAO (uint8):0 – ROMEO (uint8):1 – PEPPER (uint8):2 –
Field:	type (uint8) – model (string) – head_version (string) – body_version (string) – arm_version (string) – has_laser (bool) – has_extended_arms (bool) – number_of_legs (int32) – number_of_arms (int32) – number_of_hands (int32) –

info here is inspired by http://doc.aldebaran.com/2-1/naoqi/motion/tools-general-api.html?highlight=getrobotconfig#ALMotionProxy::getRobotConfig

enums describing the robot type

# info here is inspired by http://doc.aldebaran.com/2-1/naoqi/motion/tools-general-api.html?highlight=getrobotconfig#ALMotionProxy::getRobotConfig

# enums describing the robot type
uint8 NAO=0
uint8 ROMEO=1
uint8 PEPPER=2

# one of NAO, ROMEO, PEPPER
uint8 type

# "Model Type"   : "naoH25", "naoH21", "naoT14" or "naoT2".
string model
# "Head Version" : "VERSION_32" or "VERSION_33" or "VERSION_40".
string head_version
# "Body Version" : "VERSION_32" or "VERSION_33" or "VERSION_40".
string body_version
# "Arm Version"  : "VERSION_32" or "VERSION_33" or "VERSION_40".
string arm_version

# "Laser"        : True or False.
bool has_laser
# "Extended Arms": True or False.
bool has_extended_arms

# Number of Legs : 0 or 2
int32 number_of_legs
# Number of Arms : 0 or 2
int32 number_of_arms
# Number of Hands: 0 or 2
int32 number_of_hands

naoqi_bridge_msgs/StatusChangeStamped¶

Field:	header (std_msgs/Header) – recharge_type (int16) – old_status (std_msgs/String) – new_status (std_msgs/String) –

Header header
int16 recharge_type
std_msgs/String old_status
std_msgs/String new_status

naoqi_bridge_msgs/FloatArrayStamped¶

Field:	header (std_msgs/Header) – data[] (float32) –

Header header
float32[] data

naoqi_bridge_msgs/FaceROI¶

Field:	angle (float32) – cx (float32) – cy (float32) – height (float32) – width (float32) – confidence (float32) –

float32 angle
float32 cx
float32 cy
float32 height
float32 width
float32 confidence

naoqi_bridge_msgs/BoolStamped¶

Field:	header (std_msgs/Header) – data (bool) –

Header header
bool data

naoqi_bridge_msgs/BodyROI¶

Field:	angle (float32) – cx (float32) – cy (float32) – height (float32) – width (float32) – confidence (float32) –

float32 angle
float32 cx
float32 cy
float32 height
float32 width
float32 confidence

naoqi_bridge_msgs/MemoryPairInt¶

Field:	memoryKey (string) – data (int32) –

string memoryKey
int32 data

naoqi_bridge_msgs/IntStamped¶

Field:	header (std_msgs/Header) – data (int32) –

Header header
int32 data

naoqi_bridge_msgs/TactileTouch¶

Field:	button (uint8) – state (uint8) –
Constant:	buttonFront (uint8):1 – buttonMiddle (uint8):2 – buttonRear (uint8):3 – stateReleased (uint8):0 – statePressed (uint8):1 –

A message for Nao’s tactile interface (toucht buttons on the head)

# A message for Nao's tactile interface (toucht buttons on the head)

uint8 button            # which of the three segments is touched
uint8 state             # pressed or released, see below

uint8 buttonFront=1
uint8 buttonMiddle=2
uint8 buttonRear=3

uint8 stateReleased=0
uint8 statePressed=1

Service types¶

• naoqi_bridge_msgs/GetInstalledBehaviors
• naoqi_bridge_msgs/SetArmsEnabled
• naoqi_bridge_msgs/CmdPoseService
• naoqi_bridge_msgs/SetTransform
• naoqi_bridge_msgs/CmdVelService
• naoqi_bridge_msgs/GetBodyROI
• naoqi_bridge_msgs/GetRobotInfo
• naoqi_bridge_msgs/GetTruepose
• naoqi_bridge_msgs/GetFacesROI

naoqi_bridge_msgs/GetInstalledBehaviors¶

Field (Response):
	behaviors[] (string) –

# List installed behaviors on the robot
---
string[] behaviors

naoqi_bridge_msgs/SetArmsEnabled¶

Field (Request):
	left_arm (bool) – right_arm (bool) –

Enable or disable the arms while walking

# Enable or disable the arms while walking
bool left_arm
bool right_arm
---

naoqi_bridge_msgs/CmdPoseService¶

Field (Request):
	pose (geometry_msgs/Pose2D) –

Command pose as service:

# Command pose as service:
geometry_msgs/Pose2D pose
---

naoqi_bridge_msgs/SetTransform¶

Field (Request):
	offset (geometry_msgs/Transform) –

Send a new manual offset to the odometry

# Send a new manual offset to the odometry
geometry_msgs/Transform offset
---

naoqi_bridge_msgs/CmdVelService¶

Field (Request):
	twist (geometry_msgs/Twist) –

Command velocity as service:

# Command velocity as service:
geometry_msgs/Twist twist
---

naoqi_bridge_msgs/GetBodyROI¶

Field (Response):
	bodies[] (naoqi_bridge_msgs/BodyROI) –

---
BodyROI[] bodies

naoqi_bridge_msgs/GetRobotInfo¶

Field (Response):
	info (naoqi_bridge_msgs/RobotInfo) –

# Get several pieces of info about the robot
---
naoqi_bridge_msgs/RobotInfo info

naoqi_bridge_msgs/GetTruepose¶

Field (Response):
	pose (geometry_msgs/PoseWithCovarianceStamped) –

# Get the current truepose from the simulator environment
---
geometry_msgs/PoseWithCovarianceStamped pose

naoqi_bridge_msgs/GetFacesROI¶

Field (Response):
	faces[] (naoqi_bridge_msgs/FaceROI) –

---
FaceROI[] faces

Action types¶

• naoqi_bridge_msgs/RunBehavior
• naoqi_bridge_msgs/BodyPose
• naoqi_bridge_msgs/JointAnglesWithSpeed
• naoqi_bridge_msgs/FollowPath
• naoqi_bridge_msgs/BodyPoseWithSpeed
• naoqi_bridge_msgs/Blink
• naoqi_bridge_msgs/SpeechWithFeedback
• naoqi_bridge_msgs/SetSpeechVocabulary
• naoqi_bridge_msgs/JointTrajectory

naoqi_bridge_msgs/RunBehavior¶

Field (Goal):	behavior (string) –

Goal [behavior]: name of the behavior to be executed Result: none, will be set to aborted or preempted Feedback: none as NaoQI API cannot be queried in this respect

# Goal [behavior]: name of the behavior to be executed
# Result: none, will be set to aborted or preempted
# Feedback: none as NaoQI API cannot be queried in this respect
string behavior
---
---

naoqi_bridge_msgs/BodyPose¶

Field (Goal):	pose_name (string) –

goal: a registered body pose name

# goal: a registered body pose name
string pose_name
---
# no result currently
---
# no feedback currently 

naoqi_bridge_msgs/JointAnglesWithSpeed¶

Field (Goal):	joint_angles (naoqi_bridge_msgs/JointAnglesWithSpeed) –
Field (Result):	goal_position (sensor_msgs/JointState) –

goal: a registered body pose name

# goal: a registered body pose name
naoqi_bridge_msgs/JointAnglesWithSpeed joint_angles
---
# result is the actually reached position
sensor_msgs/JointState goal_position
---
# no feedback currently 

naoqi_bridge_msgs/FollowPath¶

Field (Goal):	path (nav_msgs/Path) –
Field (Feedback):
	index (uint32) –

goal: a path to follow

# goal: a path to follow
nav_msgs/Path path
---
# no result currently
---
# feedback: index of current subgoal in path
uint32 index

naoqi_bridge_msgs/BodyPoseWithSpeed¶

Field (Goal):	posture_name (string) – speed (float32) –

goal: a predefined body pose name : Crouch, LyingBack, LyingBelly, Sit, SitRelax, Stand, StandInit, StandZero

# goal: a predefined body pose name :
# Crouch, LyingBack, LyingBelly, Sit, SitRelax, Stand, StandInit, StandZero

string posture_name
float32 speed
---
# no result currently
---
# no feedback

naoqi_bridge_msgs/Blink¶

Field (Goal):	colors[] (std_msgs/ColorRGBA) – bg_color (std_msgs/ColorRGBA) – blink_duration (duration) – blink_rate_mean (float32) – blink_rate_sd (float32) –
Field (Result):	still_blinking (bool) –
Field (Feedback):
	last_color (std_msgs/ColorRGBA) –

Goal: colours to use for blinking, plus blinking rate mean and sd Result: true if robot is still blinking (call was pre-empted by another user) Feedback: last blinked colour

# Goal: colours to use for blinking, plus blinking rate mean and sd
# Result: true if robot is still blinking (call was pre-empted by another user)
# Feedback: last blinked colour
std_msgs/ColorRGBA[] colors
std_msgs/ColorRGBA bg_color
duration blink_duration
float32 blink_rate_mean
float32 blink_rate_sd
---
bool still_blinking
---
std_msgs/ColorRGBA last_color

naoqi_bridge_msgs/SpeechWithFeedback¶

Field (Goal):	say (string) –

Purpose : To have feedback on when the speech was started and when NAO stopped talking Goal: The sentence for NAO to say Result: NAO has finished speaking Feedback: When NAO starts speaking

# Purpose : To have feedback on when the speech was started and when 
# NAO stopped talking
# Goal: The sentence for NAO to say 
# Result: NAO has finished speaking
# Feedback: When NAO starts speaking

string say
---
# Empty result
---
# Empty feedback

naoqi_bridge_msgs/SetSpeechVocabulary¶

Field (Goal):	words[] (string) –
Field (Result):	success (bool) –

Goal: The new vocabulary to be set in the speech recognition module Result: True if the vocabulary was set Feedback: None

# Goal: The new vocabulary to be set in the speech recognition module
# Result: True if the vocabulary was set
# Feedback: None

string[] words
---
bool success
---

naoqi_bridge_msgs/JointTrajectory¶

Field (Goal):	trajectory (trajectory_msgs/JointTrajectory) – relative (uint8) –
Field (Result):	goal_position (sensor_msgs/JointState) –

goal: a joint angle trajectory

# goal: a joint angle trajectory
trajectory_msgs/JointTrajectory trajectory
# flag whether motion is absolute (=0, default) or relative (=1)
uint8 relative
---
# result is the actually reached position
sensor_msgs/JointState goal_position
---
# no feedback currently