July 25th, 2013

NAO RTC

tech, by ysuga.

Aldebaran NAO RT-component. Now implementing…

This component depends on OpenRTM-aist-Python 1.1, naoqi-Python 1.14.5.

Interfaces

DataInPorts

None

DataOutPorts

camera

RTC.CameraImage. NAO’s camera image.

audio

RTC.TimedOctetSeq. NAO microphone input.

jointAngle

RTC.TimedDoubleSeq. Current joint angle [rad]

bumper

RTC.TimedBooleanSeq. 足についている接触センサの値.(左足左側,左足右側,右足左側,右足右側,という並び)

touch

RTC.TimedBooleanSeq型.頭部および両腕の接触センサの値.(頭部後側,頭部中心,頭部前側,左手後部,左手中央,左手前部,右手後部,右手中央,右手前部,という並び)

sonar

RTC.TimedBooleanSeq型.胸にある超音波センサの値.(左,右,という並び)

ServicePorts

NAO_srv

インターフェース一覧

  • ALMotion
  • ALTestToSpeech
  • ALVideoDevice
  • ALMemory
  • ALBehaviorSelector
  • ALLeds

IDL file. (NAO.idl)

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module ssr {
 
  struct ActuatorPosition {
    string name;
    float position; // [rad]
  };
 
  typedef sequence<ActuatorPosition> ActuatorPositionSeq;
 
 
  struct ActuatorPositionArray {
    ActuatorPositionSeq data;
    float fractionSpeed;
  };
 
  struct StringArray {
    sequence<string> data;
  };
 
  struct FloatArray {
    sequence<float> data;
  };
 
  struct BoolArray {
    sequence<boolean> data;
  };
 
  struct LongArray {
    sequence<long> data;
  };
 
  interface ALMotion {
    void setAngles(in StringArray name, in FloatArray value, in float fractionSpeed);
    FloatArray getAngles(in StringArray name, in boolean useSensors);
    void openHane(in string name);
    void closeHand(in string name);
 
    void setStiffness(in StringArray name, in FloatArray stiffnesses);
    FloatArray getStiffness(in StringArray name);
 
    void rest();
    void wakeUp();
 
    void moveTo(in float x, in float y, in float theta);
    void moveToward(in float vx, in float vy, in float vtheta);
    FloatArray getRobotPosition();
    FloatArray getRobotVelocity();
    void stopMove();
    boolean moveIsActive();
    void waitUntilMoveIsFinished();
    void moveInit();
    void setWalkArmEnabled(in boolean leftArmEnable, in boolean rightArmEnable);
    BoolArray getWalkArmEnabled();
 
    FloatArray getPosition(in string name, in long space, in boolean useSensors);
    void setPosition(in string name, in long space, in FloatArray position, in float fractionMaxSpeed, in long axisMask);
    void setTransform(in string name, in long space, in FloatArray transform, in float fractionMaxSpeed, in long axisMask);
    FloatArray getTransform(in string name, in long space, in boolean useSensorValues);
  };
 
  interface ALTextToSpeech {
    void say(in string stringToSay);
    void setVolume(in float volume);
    float getVolume();
    void setLanguage(in string language);
    string getLanguage();
    StringArray getAvailableLanguages();
  };
 
  interface ALBehaviorManager {
    StringArray getInstalledBehaviors();
    StringArray getRunningBehaviors();
    boolean isBehaviorInstalled(in string name);
    boolean isBehaviorRunning(in string name);
    void runBehavior(in string name);
    void stopAllBehaviors();
    void stopBehavior(in string name);
  };
 
  interface ALMemory {
    void insertLongData(in string name, in long value);
    void insertFloatData(in string name, in long value);
    void insertStringData(in string name, in string value);
    void insertoLongArrayData(in string name, in LongArray value);
    void insertoFloatArrayData(in string name, in FloatArray value);
    void insertoStringArrayData(in string name, in StringArray value);
 
    long getLongData(in string name);
    float getFloatData(in string name);
    string getStringData(in string name);
    LongArray getLongArrayData(in string name);
    FloatArray getFloatArrayData(in string name);
    StringArray getStringArrayData(in string name);
  };
 
  interface ALVideoDevice {
    long getCameraModel(in long index);
    long getFrameRate(in long index);
    long getResolution(in long index);
    long getColorSpace(in long index);
    boolean setCameraParameter(in long id, in long value);
    long getCameraParameter(in long id);
    boolean setCameraParameterToDefault(in long id);
  };
 
  interface ALLeds {
    void fade(in string name, in float intensity, in float duration);
    void fadeRGB(in string name, in long rgb, in float duration);
  };
 
};

Configurations

ipaddress

port

enable_camera

enable_audio

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