naoqi_msgs¶

Message types¶

• naoqi_msgs/AudioBuffer
• naoqi_msgs/JointAngleTrajectory
• naoqi_msgs/WordRecognized
• naoqi_msgs/FadeRGB
• naoqi_msgs/Bumper
• naoqi_msgs/JointAnglesWithSpeed
• naoqi_msgs/TactileTouch

naoqi_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_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_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_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_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_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_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_msgs/GetInstalledBehaviors
• naoqi_msgs/SetArmsEnabled
• naoqi_msgs/CmdPoseService
• naoqi_msgs/SetTransform
• naoqi_msgs/CmdVelService
• naoqi_msgs/GetTruepose

naoqi_msgs/GetInstalledBehaviors¶

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

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

naoqi_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_msgs/CmdPoseService¶

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

Command pose as service:

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

naoqi_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_msgs/CmdVelService¶

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

Command velocity as service:

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

naoqi_msgs/GetTruepose¶

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

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

Action types¶

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

naoqi_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_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_msgs/JointAnglesWithSpeed¶

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

goal: a registered body pose name

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

naoqi_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_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_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_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_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_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