This repository hosts two ROS2 packages for NAO v6 that allows to play gestures and it is part of the Open Access NAO framework.
This project is a fork of naosoccer_pos_action.
The main new features are two:
- Implementing the request to play a movement as a ROS2 action. This gives much more control on the execution and more flexibility.
- Thanks to a new format for describing the gestures, it is possibile to actuate any subset of the joints, while before for each gesture you had to take the control of the whole robot. This gives much more flexibility and allows different programs to move the joints if necessary.