This repo defines the naoqi_driver package for ROS2. The driver is in charge of providing bridging capabilities between ROS2 and NAOqiOS.

The naoqi_driver is a ROS node. It connects to a robot running NAOqi using libQi.

It also listens to a libQi endpoint (specified by the option qi_listen_url). This endpoint should be public (e.g. qi_listen_url:=0.0.0.0:0) to enable collecting audio buffers remotely. It should be set to a local address (e.g. qi_listen_url:=127.0.0.1:0) when running on the robot. It can be disabled by setting qi_listen_url:= when audio is not required.

Audio can be disabled in boot_config.json.

To run, the driver requires the naoqi_libqi, naoqi_libqicore and naoqi_bridge_msgs packages. Those can be installed using apt-get (if they have been released for your ROS distro) or from source. Additionally, pepper_meshes and/or nao_meshes can be useful to display the robot in RViz.

On Ubuntu, install them using:

sudo apt-get install ros-<distro>-naoqi-libqi ros-<distro>-naoqi-libqicore ros-<distro>-naoqi-bridge-msgs ros-<distro>-pepper-meshes ros-<distro>-nao-meshes

In your ROS2 workspace, clone the repo and its dependencies:

cd <ws>/src
git clone https://github.com/ros-naoqi/naoqi_driver2.git
vcs import < naoqi_driver2/dependencies.repos
cd <ws>
rosdep install --from-paths src --ignore-src --rosdistro <distro> -y

To install vcs: sudo apt-get install python3-vcstool

Then build the workspace:

cd <ws>
colcon build --symlink-install

Meshes can only be built on x86(_64) platforms. You can skip them by building with these arguments:

colcon build --packages-skip nao_meshes pepper_meshes

The source repositories include pepper_meshes2 and nao_meshes2, which require an interactive agreement to be provided. If you agree to their license terms ( CC BY-NC-ND 4.0: pepper_meshes2 LICENSE, nao_meshes2 LICENSE). you may skip the interactive prompt by setting the AGREE_TO_NAO_MESHES_LICENSE and I_AGREE_TO_PEPPER_MESHES_LICENSE environment variables:

I_AGREE_TO_NAO_MESHES_LICENSE=1 I_AGREE_TO_PEPPER_MESHES_LICENSE=1 colcon build --symlink-install

Automated jobs on non-interactive environments (DEBIAN_FRONTEND=noninteractive) defaults to agreeing to the licenses, assuming the author of the job has agreed to the license terms.

To have full control of the robot with ROS, you may want to disable autonomous behaviors first:

ssh nao@<robot_host>
qicli call ALAutonomousLife.setState disabled
qicli call ALMotion.wakeUp

The driver can be launched using the following command:

source /opt/ros/<distro>/setup.bash # or source <ws>/install/setup.bash if built from source
ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host>

Username and password arguments are required for robots running NAOqi 2.9 or greater:

ros2 launch naoqi_driver naoqi_driver.launch.py nao_ip:=<robot_host> nao_username:=nao nao_password:=<robot_password>

Check that the driver is connected:

ros2 node info /naoqi_driver

Make the robot say hello:

ros2 topic pub --once /speech std_msgs/String "data: hello"

You can setup speech recognition and get one result.

ros2 action send_goal listen naoqi_bridge_msgs/action/Listen "expected: [\"hello\"]
language: \"en\""

Check that you can move the head by publishing on /joint_angles:

ros2 topic pub --once /joint_angles naoqi_bridge_msgs/JointAnglesWithSpeed "{header: {stamp: now, frame_id: ''}, joint_names: ['HeadYaw', 'HeadPitch'], joint_angles: [0.5,0.1], speed: 0.1, relative: 0}"

You can see the published message with ros2 topic echo /joint_angles

Check that you can move the robot by publishing on cmd_vel to make the robot move:

ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
  x: 0.5
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.785"

Make some room around the robot!

To stop the robot, you must send a new message with linear and angular velocities set to 0:

ros2 topic pub --once /cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

Check how to install the driver from source, or use the Dockerfile to get setup a reproducible dev environment:

docker build -t ros2-naoqi-driver .

To get all logs in live and build debuggable binaries, you may build with this command:

colcon build --event-handlers console_direct+ --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Debug

It works also when running tests:

colcon test --packages-skip nao_meshes pepper_meshes --event-handlers console_direct+ --ctest-args tests

ROS Distro	Binary Status	Source Status	GitHub Status
Humble
Iron