Nao State Publisher (Deprecated)

Warning

Nao State Publisher is deprecated in ROS 2 J-turtle and will be removed in ROS 2 K-turtle. Please use robot state publisher directly instead.

The Nao State Publisher inherits from, and achieves the same purpose as a robot_state_publisher, to publish ROS transforms.

Running the nao_state_publisher

Start the nao_state_publisher:

ros2 launch nao_state_publisher nao_state_publisher_launch.py

Why not use robot_state_publisher?

The nao_state_publisher listens to msgs specific to the NAO robot, which cannot be achieved with the robot_state_publisher.

Specifically, rather than subscribing to

• joint_states (sensor_msgs/JointState) - which robot_state_publisher does

the nao_state_publisher subscribes to nao-specific joint positions

• sensors/joint_positions (nao_sensor_msgs/msg/JointPositions) up until ROS 2 Iron

• sensors/joint_positions (nao_lola_sensor_msgs/msg/JointPositions) for later ROS 2 distros

See also

robot_state_publisher’s documentation for more details.