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Hello Every body , I am new in Ros and Python I would like to use joint_angles topic to control only on joint of NAO lets say HeadYaw Id it possible to let me know the procedure?

I was running the following command but it does not work :

rostopic pub /joint_angles nao_msgs/JointAnglesWithSpeed '{seq: 1, stamp: now, frame_id: Head}' '['[HeadYaw,HeadPitch]',[1,-1],2.0,0]'


Originally posted by Mohsen 2013 on ROS Answers with karma: 3 on 2013-07-26

Post score: 0


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Comment by Miguel S. on 2013-07-26:
Could you change the title to something more descriptive? Eg. 'Sending messages to nao_controller from rostopic_pub'. It'll make it easier for future users to find your question :)

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There are two issues with your command:

  • On ROS groovy the line is not being accepted, if you flatten your arrays and add -- for the negative numbers it works
  • The relative speed must be a value between 0 and 1

So if you type something like this...

rostopic pub /joint_angles nao_msgs/JointAnglesWithSpeed -- '[ 1, now, Head]' '[HeadYaw,HeadPitch]' '[1,-1]'  1.0  0

... it should work (at least on groovy with nao_controller up and running)


Originally posted by Miguel S. with karma: 1114 on 2013-07-26

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by Mohsen 2013 on 2013-07-26:
Thanks alot :)

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