Package Summary

Description of the Nao robot model that can be used with robot_state_publisher to display the robot's state of joint angles.

Maintainer status: developed
Maintainer: Séverin Lemaignan <severin.lemaignan AT epfl DOT ch>, Vincent Rabaud <vincent.rabaud AT gmail DOT com>
Author: Armin Hornung, Stefan Osswald
License: BSD
Bug / feature tracker: https://github.com/ros-nao/nao_robot/issues
Source: git https://github.com/ros-nao/nao_robot.git (branch: master)

Contents

Documentation

Nao TF

Documentation

Nao's URDF description contains all joints and links according to the documentation by Aldebaran Robotics for V3 and V4 Naos. In accordance with REP-105 (Coordinate Frames for Mobile Platforms) and REP-120 (Coordinate Frames for Humanoid Robots) the root link is base_link, directly connected to torso. The camera frames are CameraBottom_frame and CameraTop_frame. nao_remote publishes the odom -> base_link transform and a base_footprint frame, projected between the feet on the ground. The defined links for the end effectors are [l|r]_gripper for the arms and [l|r]_sole for the feet.

Nao Urdf

CategoryURDF