LoLA Client

To run the client that connects to LoLA, run:

ros2 run nao_lola_client nao_lola_client

Published Topics

• sensors/accelerometer (nao_lola_sensor_msgs::msg::Accelerometer)

• sensors/angle (nao_lola_sensor_msgs::msg::Angle)

• sensors/buttons (nao_lola_sensor_msgs::msg::Buttons)

• sensors/fsr (nao_lola_sensor_msgs::msg::FSR)

• sensors/gyroscope (nao_lola_sensor_msgs::msg::Gyroscope)

• sensors/joint_positions (nao_lola_sensor_msgs::msg::JointPositions)

• sensors/joint_stiffnesses (nao_lola_sensor_msgs::msg::JointStiffnesses)

• sensors/joint_temperatures (nao_lola_sensor_msgs::msg::JointTemperatures)

• sensors/joint_currents (nao_lola_sensor_msgs::msg::JointCurrents)

• sensors/joint_statuses (nao_lola_sensor_msgs::msg::JointStatuses)

• sensors/sonar (nao_lola_sensor_msgs::msg::Sonar)

• sensors/touch (nao_lola_sensor_msgs::msg::Touch)

• sensors/battery (nao_lola_sensor_msgs::msg::Battery)

• sensors/robot_config (nao_lola_sensor_msgs::msg::RobotConfig)

The following topics are available depending on parameters:

• imu (sensor_msgs::msg::Imu) - if publish_imu parameter is set to true

• joint_states (sensor_msgs::msg::JointState) - if publish_joint_states parameter is set to true

Subscribed Topics

• effectors/joint_positions (nao_lola_command_msgs::msg::JointPositions)

• effectors/joint_stiffnesses (nao_lola_command_msgs::msg::JointStiffnesses)

• effectors/chest_led (nao_lola_command_msgs::msg::ChestLed)

• effectors/left_ear_leds (nao_lola_command_msgs::msg::LeftEarLeds)

• effectors/right_ear_leds (nao_lola_command_msgs::msg::RightEarLeds)

• effectors/left_eye_leds (nao_lola_command_msgs::msg::LeftEyeLeds)

• effectors/right_eye_leds (nao_lola_command_msgs::msg::RightEyeLeds)

• effectors/left_foot_led (nao_lola_command_msgs::msg::LeftFootLed)

• effectors/right_foot_led (nao_lola_command_msgs::msg::RightFootLed)

• effectors/head_leds (nao_lola_command_msgs::msg::HeadLeds)

• effectors/sonar_usage (nao_lola_command_msgs::msg::SonarUsage)

Parameters

• publish_imu (bool, default: true)

  Whether to convert nao_lola sensor_msgs/Accelerometer and nao_lola sensor_msgs/Gyroscope to sensor_msgs/Imu and publish it.

• publish_joint_states (bool, default: true)

  Whether to convert nao_lola sensor_msgs/JointPositions to sensor_msgs/JointState and publish it.