List of packages:

• ros-aldebaran/romeo_robot
• ros-nao/nao_sensors
• ros-aldebaran/romeo_moveit_config

Step 1: Controller Romeo and joint state publisher:

• Install the package ros_control: sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers
• Set AL_DIR to the path to naoqiSDK-c++ on your computer:
  • gedit ~/.bashrc
  • Add the following line setting the correct path to your naoqi-sdk-c++: export AL_DIR=/local/soft/naoqi/naoqi-sdk-2.1.0.19-linux64
• Clone the repository ros-aldebaran/romeo_robot in your catkin_ws
• Go via terminal in your catkin_ws and build the packages with catkin_make
• Source your workspace: source devel/setup.bash
• Now you can run: roslaunch romeo_dcm_bringup romeo_dcm_bringup_remote.launch

Step 2: Use Moveit

• Follow the Step 1
• Install Moveit in Indigo:
  • Open synaptic package manager and search for moveit
  • Install the packages you find (I don’t know exactly with packages are required so I installed all of them, except those with config )
• Clone in your repository ros-aldebaran/romeo_moveit_config
• Go via terminal in your catkin_ws and build the packages with catkin_make
• Source your workspace: source devel/setup.bash
• Now we can run the dcm_bringup roslaunch romeo_dcm_bringup romeo_dcm_bringup_remote.launch
• Wait until romeo_dcm_bringup node is ready, then run MoveIt: roslaunch romeo_moveit_config moveit_planner_romeo.launch

Calibration camera

Calibrate the camera: rosrun camera_calibration cameracalibrator.py --size 9x6 --square 0.025 --no-service-check image:=/nao_camera/image_raw camera:=/nao_camera

http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration

To converver ini to yaml:

http://wiki.ros.org/camera_calibration_parsers