LoLA Client

To run the client that connects to LoLA, run:

ros2 run nao_lola_client nao_lola_client

Published Topics

sensors/accelerometer (:ref:`nao_lola_sensor_msgs::msg::Accelerometer <Accelerometer>`)
sensors/angle (:ref:`nao_lola_sensor_msgs::msg::Angle <Angle>`)
sensors/buttons (:ref:`nao_lola_sensor_msgs::msg::Buttons <Buttons>`)
sensors/fsr (:ref:`nao_lola_sensor_msgs::msg::FSR <FSR>`)
sensors/gyroscope (:ref:`nao_lola_sensor_msgs::msg::Gyroscope <Gyroscope>`)
sensors/joint_positions (:ref:`nao_lola_sensor_msgs::msg::JointPositions <sensor_joint_positions>`)
sensors/joint_stiffnesses (:ref:`nao_lola_sensor_msgs::msg::JointStiffnesses <sensor_joint_stiffnesses>`)
sensors/joint_temperatures (:ref:`nao_lola_sensor_msgs::msg::JointTemperatures <JointTemperatures>`)
sensors/joint_currents (:ref:`nao_lola_sensor_msgs::msg::JointCurrents <JointCurrents>`)
sensors/joint_statuses (:ref:`nao_lola_sensor_msgs::msg::JointStatuses <JointStatuses>`)
sensors/sonar (:ref:`nao_lola_sensor_msgs::msg::Sonar <Sonar>`)
sensors/touch (:ref:`nao_lola_sensor_msgs::msg::Touch <Touch>`)
sensors/battery (:ref:`nao_lola_sensor_msgs::msg::Battery <Battery>`)
sensors/robot_config (:ref:`nao_lola_sensor_msgs::msg::RobotConfig <RobotConfig>`)

The following topics are available depending on parameters:

imu (sensor_msgs::msg::Imu) - if :ref:`publish_imu <publish_imu>` parameter is set to true
joint_states (sensor_msgs::msg::JointState) - if :ref:`publish_joint_states <publish_joint_states>` parameter is set to true

effectors/joint_positions (:ref:`nao_lola_command_msgs::msg::JointPositions <command_joint_positions>`)
effectors/joint_stiffnesses (:ref:`nao_lola_command_msgs::msg::JointStiffnesses <command_joint_stiffnesses>`)
effectors/chest_led (:ref:`nao_lola_command_msgs::msg::ChestLed <ChestLed>`)
effectors/left_ear_leds (:ref:`nao_lola_command_msgs::msg::LeftEarLeds <LeftEarLeds>`)
effectors/right_ear_leds (:ref:`nao_lola_command_msgs::msg::RightEarLeds <RightEarLeds>`)
effectors/left_eye_leds (:ref:`nao_lola_command_msgs::msg::LeftEyeLeds <sensor_LeftEyeLeds>`)
effectors/right_eye_leds (:ref:`nao_lola_command_msgs::msg::RightEyeLeds <sensor_RightEyeLeds>`)
effectors/left_foot_led (:ref:`nao_lola_command_msgs::msg::LeftFootLed <sensor_LeftFootLed>`)
effectors/right_foot_led (:ref:`nao_lola_command_msgs::msg::RightFootLed <sensor_RightFootLed>`)
effectors/head_leds (:ref:`nao_lola_command_msgs::msg::HeadLeds <sensor_HeadLeds>`)
effectors/sonar_usage (:ref:`nao_lola_command_msgs::msg::SonarUsage <SonarUsage>`)

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.