naosoccer_pos_action

Executes a .pos file action for a NAO robot, a filetype defined in rUNSWift's codebase.

Steps (on real robot)

1. On a terminal on the robot, run ros2 run nao_lola_client nao_lola_client

2. In a new terminal (either on robot, or on your machine), run ros2 run naosoccer_pos_action naosoccer_pos_action

3. In a new terminal (either on robot, or on your machine), publish a start message

   ros2 topic pub --once start_pos_action std_msgs/msg/Bool '{data: true}'

Steps (simulation using rcsoccer3d)

1. Run rcsoccersim3d

2. In a new terminal, run ros2 run rcss3d_nao rcss3d_nao

3. In a new terminal, run ros2 run naosoccer_pos_action naosoccer_pos_action

4. In a new terminal, publish a start message

   ros2 topic pub --once start_pos_action std_msgs/msg/Bool '{data: true}'

Using a different motion.

Pos files define the different motions, and can be specified using a ros parameter for the naosoccer_pos_action node. To set the parameter, when running the naosoccer_pos_action node in the steps above, instead do the following:

ros2 run naosoccer_pos_action naosoccer_pos_action --ros-args -p "file:=src/naosoccer_pos_action/pos/tilt.pos"