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A set of ROS nodes which allow a robot to perform simulated handwriting through motions which are synchronised with an android tablet's display.

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nao_writing: Simulated handwriting for the Nao humanoid

A set of ROS nodes which allow a robot to perform simulated handwriting through motions which are synchronised with an android tablet's display.

Photo of Nao writing on tablet

##Dependencies

For more information, see the readmes in internal directories and the parameters which are available for specification in the launch files.

Usage without a tablet connected

The nao_trajectory_following nodes allow for receiving a message and getting a Nao robot to trace it in the air at the appropriate TF frame representing the writing surface.

####1 With a webots simulated Nao running Open the webots world at webots/projects/robots/nao/worlds/nao.wbt (you should see the nao's simulated camera, otherwise you may have license issues)

roslaunch nao_trajectory_following draw_svg_demo.launch

####2 With a ROS-enabled Nao: Install chrony on the computer so that the robot may sync its clock.

On the robot:

sudo /etc/init.d/ntpd stop
sudo ntpdate (computer's IP)
sudo /etc/init.d/ntpd start

ntpdate -q (computer's IP) should then give ~0 offset, indicating that the clocks are synchronised.

export ROS_IP=(nao's IP)
export ROS_MASTER_URI=http://(computer's IP):11311
roslaunch nao_bringup nao.launch

On the computer acting as the ROS master:

roslaunch nao_trajectory_following draw_svg_demo.launch use_sim_nao:=false nao_ip:=(nao's IP)

Photo of expected result with simulated nao

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A set of ROS nodes which allow a robot to perform simulated handwriting through motions which are synchronised with an android tablet's display.

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