Simple yet functionnal ROS Indigo package for Poppy (Humanoid at the moment) :
You can read and write in registers from topics (using Float32MultiArray messages, there are examples in the README) and start/stop primitives.
If you don’t want to install ROS on your robot, there is a ‘over REST’ node that you can launch on your computer and communicate with the robot using the REST API (it’s slower…)
Don’t hesitate to test and contribute !
Installation instructions for ROS on Odroid (from my notes while I was working) : ROSpoppy.txt (1.7 KB)