README

The code is open-source (BSD License). Please note that this work is an on-going research and thus some parts are not fully developed yet. Furthermore, the code will be subject to changes in the future which could include greater re-factoring.

• nao_walk_naoqi: A C++ naoqi module that achieves real-time omni-directional walking. This module needs to be cross-compiles the cross naoqi sdk and uploaded to NAO.

• nao_walk_ros: A ROS/C++ wrapper that enables real-time communication with NAO without relying on naoqi-sdk.

https://youtu.be/DD0I0H3wR7c

Prerequisites

• Ubuntu 16.04 and later
• ROS kinetic and later
• Eigen 3.2.0 and later

Instalation

• git clone https://github.com/mrsp/nao_walk.git in a ROS workspace.

naoqi walk module

• cd nao_walk/nao_walk_naoqi && qibuild init
• qibuild configure --release -c cross-naoqi-sdk
• qibuild make -c cross-naoqi-sdk
• This will generate a naoqi module named "libnao_walkF.so" in: nao_walk/nao_walk_naoqi/build-cross-naoqi-sdk/sdk/lib/naoqi
• scp libnao_walkF.so nao@nao.local:/home/nao/modules to copy the module onto NAO.

nao walk ROS wrapper

• catkin_make
• roslaunch nao_walk gait_control.launch
• roslaunch teleop_twist_keyboard velocity_cmd.launch (To make the robot walk with the keyboard)