Docker Instructions

You can run this naoqi driver in a docker container. Use a volume link using docker-compose, e.g. ` # 'workspace' is just your WORKDIR in your Dockerfile - ./src/YOUR_PACKAGE:/workspace/YOUR_REPO/src/YOUR_PACKAGE - ./src/naoqi_driver:/workspace/YOUR_REPO/src/naoqi_driver - ./src/naoqi_bridge_msgs:/workspace/YOUR_REPO/src/naoqi_bridge_msgs ` For naoqi 2.5 this Dockerfile would look like the following: ``` FROM ros:foxy RUN sh

-c 'echo "deb http://packages.ros.org/ros/ubuntu lsb_release -sc main"

> /etc/apt/sources.list.d/ros-latest.list'

RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add - RUN apt-get update

# Get and build boost RUN cd / && wget https://deac-ams.dl.sourceforge.net/project/boost/boost/1.62.0/boost_1_62_0.tar.gz RUN cd / && tar zxvf boost_1_62_0.tar.gz && rm boost_1_62_0.tar.gz RUN cd /boost_1_62_0

&& ./bootstrap.sh --with-libraries=all --with-toolset=gcc && ./b2 install -j 8

RUN apt-get install ros-foxy-diagnostic-updater RUN apt-get install ros-foxy-robot-state-publisher

# Install naoqi c++ sdk RUN python3 -m pip install qibuild RUN mkdir -p /opt RUN cd /opt && git clone https://github.com/samiamlabs/libqi.git -b release-2.5 RUN cd /opt/libqi && mkdir build && cd build && cmake .. -DQI_WITH_TESTS=OFF RUN cd /opt/libqi/build && make -j 8 && make install

RUN cd /opt && git clone https://github.com/aldebaran/libqicore.git -b release-2.5 RUN cd /opt/libqicore && mkdir build && cd build && cmake .. -DQI_WITH_TESTS=OFF RUN cd /opt/libqicore/build && make -j 8 && make install

# Install dependencies COPY src/YOUR_PACKAGE src/YOUR_PACKAGE RUN rosdep install --from-paths src --ignore-src -r -y

# Add sourcing script RUN echo "nsource /workspace/liu-home-wreckers/src/lhw_qi/activate" >> /etc/zsh/zshrc

# Will be mounted later (that volume mount, remember?) RUN rm -rf src

# Link RUN ldconfig ```

Description

This is a naoqi driver module that bridges with ROS. It publishes several sensor data as well as the robot position.

On the other hand it enables ROS to call parts of the NAOqi API.

What it does

The naoqi_driver module is in charge of providing some bridge capabilities between ROS and NAOqiOS.

How it works

The naoqi_driver module is a NAOqi module that also acts as a ROS node. As there is no roscore on the robot, it needs to be given the IP of the roscore in order to be registered as a node in the ROS processing graph. Usually, you will start your roscore on your local desktop.

Once connected, normal ROS communication is happening between your robot, running NAOqi OS, and your desktop, running ROS.

For further information, you can go here or build the doc:

cd doc
doxygen Doxyfile
sphinx-build -b html ./source/ ./build/

Travis - Continuous Integration

ROS Release	status
Melodic-stretch
Melodic
Kinetic
Indigo