README.md

nao_ik

This ROS2 package can be used to solve inverse kinematics of a NAO's legs joints.

Nodes

One node is provided, which performs the invverse kinematics via publishers and subscriptions:

# If using Rolling, or J-turtle onwards
ros2 run nao_ik nao_ik

# If using I-turtle or earlier
ros2 run nao_ik ik_node

Subscription

motion/sole_poses (biped_interfaces/msg/SolePoses.msg)

Publish

effectors/joint_positions - (nao_lola_command_msgs/msg/JointPositions)

Code Usage

Please refer to LICENSE for software licensing for different parts of the codebase.

Note for Robocup Teams

You do not have to announce B-Human code usage when using this package.

This codebase includes software from the B-Human Code Release. Usually, when using B-Human's code in a competition, teams are required to announce code usage to the Technical Committee one month before competition, as specified in B-Human's license.

However, B-Human has suggested to release their code in this repository with a reduced B-Human license, due to the small amount of borrowed code. The reduced license does not include restrictions about announcing code usage.

We thank the authors of the borrowed code and B-Human for their permissiveness in providing code under a reduced license.