Components

RSBTTSAdapter

Function Description

Offers a remote RSB-Server running on the Nao which forwards messages of given scope to ALTextToSpeech

Accepted Inputs

  • /nao/tts (Server, str)
    • Accepts a string and returns a string if utterance is completed.

Provided Outputs

None

Comments

See RSBTTSAdapterTest

RSBVideoSender

Function Description

Streams the camera image of Nao to the network. Currently, with the old Nao head, only the top camera is streamed.

Streaming is started through an ALMemory event which can be generated by the ActionLauncher and pressing the head sensor of Nao.

Accepted Inputs

None

Provided Outputs

  • /nao/vision/top (Informer, ImageMessage)
    • The camera images with specified fps. If launched using the action launcher memory start, 10 fps are set as a default to prevent flooding Nao's CPU.

RSBAudioSender

Function Description

Streams all 4 microphones of Nao.

Streaming is started through an ALMemory event which can be generated by the ActionLauncher and pressing the head sensor of Nao.

Accepted Inputs

None

Provided Outputs

  • /nao/audio/all (Informer, SoundMessage)
    • Audio, 4 channels, 48 KHz

RSBProprioceptionSender

Function Description

Streams proprioceptive information about all joints of the robot.

Accepted Inputs

None

Provided Outputs

  • /nao/proprioception (Informer, ProprioceptionData)
    • Joint values + addiotional information of all joints

RSBOdometrySender

Function Description

Streams the odometry information from the robot.

Accepted Inputs

None

Provided Outputs

  • /nao/odometry (Informer, PoseMessage)
    • x and y position + orientation as quaternion

RPCAdapter

Function Description

A wrapper around NaoQi that enables calling NaoQi functions through the RSB RPC mechanism. It's basic purpose is decoupling from NaoQi in a software library manner. This is not the intended final solution to work with nao. It servers more as a working solution as long as the final software architecture is not specified.

Accepted Inputs

  • /nao/rpc (Server, request: MethodCall, reply: Value)
    • Calls a NaoQi function by specifying ALProxy.methodName as the method name to call and providing the required arguments. Returns a result using the protocol buffer Value definition.

Provided Outputs

None