The nxt_ros package provides the bindings between the NXT world and the ROS world. This package will create a ROS topic for each NXT sensor, and publish the sensor's data on this topic. The package also creates a topic for each NXT motor, which allows you to command the motor from ROS. The nxt_ros bindings talk directly to the NXT brick, either over USB or over Bluetooth (note that the Bluetooth connection is currently too slow to be very useful). Binding an NXT robot to ROS only requires a single configuration file.
nxt_ros is ...
