*This requires that you have connected to the Robot/Simulation via nao_dcm driver* and will open up **rviz with the Navigation plugin configured** to give Nao trajectories to execute.
###Webots Simulation
Launch your **Webots for Nao Simulator** and then **follow the instructions above to bringup nao_dcm driver** (remotely). *On some versions of Webots, it is required that you move the head before you get camera feedback. Also, changing the camera resolution via dynamic reconfigure will not have any effect as Webots uses fixed resolution.*
**NOTE: **This is work in progress and may not work very well.
This will **launch Gazebo Simulator** and **trajectory controllers** to simulate the real robot. *This is somewhat equivalent as bringing up nao_dcm_driver (remotely)*. Thus, then for example you can use MoveIt Demo to give trajectories to Nao to execute.
* **nao_dcm can be run locally**, *but you need to have built and installed ROS Hydro on Nao as nao_dcm requires ros_controls packages* (available only on >= Hydro). Yet, running **nao_dcm** driver remotely is identical in performance as running it locally (if the connection is strong and persistent - Wi-Fi usage is not recommended).
* Although my intension is to provide ROS integration to the machine, basic gait and motion planning schemes are on the way for those that want quick results/feedback.
* *Integration for LED, IR and Audio hardware is not available and is not on my agenda*. So, **feel free to contribute in that direction**.
* **This is only ONE part of my Diploma Thesis** (*"Navigation of Humanoid Robots in Unknown Space With Dynamic Obstacles"*), so many parts of the code are not perfect and well-thought. So, **PRs for code improvement are welcomed.**
