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add a message concerning the robot information #2

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merged 2 commits into from
Aug 25, 2015

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vrabaud
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@vrabaud vrabaud commented Aug 20, 2015

comments anyone ?

@vrabaud
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vrabaud commented Aug 20, 2015

the goal is to mirror http://doc.aldebaran.com/2-1/naoqi/motion/tools-general-api.html?highlight=getrobotconfig#ALMotionProxy::getRobotConfig and probably add info over time (like serial number).
This will be published once in a latched manner by naoqi_driver

@Karsten1987
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Do we really need all these fields? For example a field has_laser and robot_model for Pepper are redundant, no? Similar issues for number of legs for pepper? According to naoqi there is 1 leg :)

Why is arm_version a bool? Shouldn't it be a uint8 as well for iterating over VERSION_33, VERSION_40 etc ?

@vrabaud
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vrabaud commented Aug 25, 2015

@Karsten1987 , please comment in the file, it makes comments easier to track.
I updated the PR.

@vrabaud
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vrabaud commented Aug 25, 2015

for the laser, NAO can also have a laser on some prototypes.

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vrabaud commented Aug 25, 2015

renamed a few things and added the service

# Number of Arms : 0 or 2
int32 number_of_arms
# Number of Hands: 0 or 2
int32 number_of_hands
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do we have versions with arms but without hands?

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good point, I guess it was the case at some point ....

Karsten1987 added a commit that referenced this pull request Aug 25, 2015
add a message concerning the robot information
@Karsten1987 Karsten1987 merged commit c72c19b into ros-naoqi:master Aug 25, 2015
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2 participants