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Update docs: add March 2026 session summary, NAO6 Docker integration docs, and quick reference updates

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- Add MARCH-2026-SESSION.md with complete summary of work done
- Update nao6-quick-reference.md for Docker-based deployment
- Update quick-reference.md with NAO6 Docker integration section
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Sean O'Connor
2026-03-21 20:51:08 -04:00
parent 73f70f6550
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docs/nao6-quick-reference.md
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Essential commands for using NAO6 robots with HRIStudio.
## Quick Start
## Quick Start (Docker)
### 1. Start NAO Integration
### 1. Start Docker Integration
```bash
cd ~/naoqi_ros2_ws
source install/setup.bash
ros2 launch nao_launch nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab
cd ~/Documents/Projects/nao6-hristudio-integration
docker compose up -d
```
### 2. Wake Robot
Press chest button for 3 seconds, or use:
```bash
# Via SSH (institution-specific password)
ssh nao@nao.local
# Then run wake-up command (see integration repo docs)
```
The robot will automatically wake up and autonomous life will be disabled on startup.
### 3. Start HRIStudio
### 2. Start HRIStudio
```bash
cd ~/Documents/Projects/hristudio
bun dev
```
### 4. Test Connection
- Open: `http://localhost:3000/nao-test`
- Click "Connect"
- Test robot commands
### 3. Verify Connection
- Open: `http://localhost:3000`
- Navigate to trial wizard
- WebSocket should connect automatically
## Essential Commands
## Docker Services
### Test Connectivity
```bash
ping nao.local # Test network
ros2 topic list | grep naoqi # Check ROS topics
```
### Manual Control
```bash
# Speech
ros2 topic pub --once /speech std_msgs/String "data: 'Hello world'"
# Movement (robot must be awake!)
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.1}}'
# Stop
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.0}}'
```
### Monitor Status
```bash
ros2 topic echo /naoqi_driver/battery # Battery level
ros2 topic echo /naoqi_driver/joint_states # Joint positions
```
## Troubleshooting
**Robot not moving:** Press chest button for 3 seconds to wake up
**WebSocket fails:** Check rosbridge is running on port 9090
```bash
ss -an | grep 9090
```
**Connection lost:** Restart rosbridge
```bash
pkill -f rosbridge
ros2 run rosbridge_server rosbridge_websocket
```
| Service | Port | Description |
|---------|------|-------------|
| nao_driver | - | NAOqi driver node |
| ros_bridge | 9090 | WebSocket bridge |
| ros_api | - | ROS API services |
## ROS Topics
**Commands (Input):**
- `/speech` - Text-to-speech
- `/cmd_vel` - Movement
- `/joint_angles` - Joint control
**Commands (Publish to these):**
```
/speech - Text-to-speech
/cmd_vel - Velocity commands (movement)
/joint_angles - Joint position commands
```
**Sensors (Output):**
- `/naoqi_driver/joint_states` - Joint data
- `/naoqi_driver/battery` - Battery level
- `/naoqi_driver/bumper` - Foot sensors
- `/naoqi_driver/sonar/*` - Distance sensors
- `/naoqi_driver/camera/*` - Camera feeds
**Sensors (Subscribe to these):**
```
/camera/front/image_raw - Front camera
/camera/bottom/image_raw - Bottom camera
/joint_states - Joint positions
/imu/torso - IMU data
/bumper - Foot bumpers
/{hand,head}_touch - Touch sensors
/sonar/{left,right} - Ultrasonic sensors
/info - Robot info
```
## Manual Control
### Test Connectivity
```bash
# Network
ping 10.0.0.42
# ROS topics (inside Docker)
docker exec -it nao6-hristudio-integration-nao_driver-1 ros2 topic list
```
### Direct Commands (inside Docker)
```bash
# Speech
docker exec -it nao6-hristudio-integration-nao_driver-1 \
ros2 topic pub --once /speech std_msgs/String "{data: 'Hello'}"
# Movement (robot must be awake!)
docker exec -it nao6-hristudio-integration-nao_driver-1 \
ros2 topic pub --once /cmd_vel geometry_msgs/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}}"
```
### Robot Control via SSH
```bash
# SSH to robot
sshpass -p "nao" ssh nao@10.0.0.42
# Wake up
qicli call ALMotion.wakeUp
# Disable autonomous life
qicli call ALAutonomousLife.setState disabled
# Go to stand
qicli call ALRobotPosture.goToPosture Stand 0.5
```
## WebSocket
@@ -99,79 +103,76 @@ ros2 run rosbridge_server rosbridge_websocket
}
```
## More Information
## Troubleshooting
See **[nao6-hristudio-integration](../../nao6-hristudio-integration/)** repository for:
- Complete installation guide
- Detailed usage instructions
- Full troubleshooting guide
- Plugin definitions
- Launch file configurations
**Robot not moving:**
- Check robot is awake: `qicli call ALMotion.isWakeUp` → returns `true`
- If not: `qicli call ALMotion.wakeUp`
## Common Use Cases
### Make Robot Speak
**WebSocket fails:**
```bash
ros2 topic pub --once /speech std_msgs/String "data: 'Welcome to the experiment'"
# Check rosbridge is running
docker compose ps
# View logs
docker compose logs ros_bridge
```
### Walk Forward 3 Steps
**Connection issues:**
```bash
ros2 topic pub --times 3 /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
# Restart Docker
docker compose down && docker compose up -d
# Check robot IP in .env
cat nao6-hristudio-integration/.env
```
### Turn Head Left
```bash
ros2 topic pub --once /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed '{joint_names: ["HeadYaw"], joint_angles: [0.8], speed: 0.2}'
```
## Environment Variables
### Emergency Stop
```bash
ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
Create `nao6-hristudio-integration/.env`:
```
NAO_IP=10.0.0.42
NAO_USERNAME=nao
NAO_PASSWORD=nao
BRIDGE_PORT=9090
```
## 🚨 Safety Notes
- **Always wake up robot before movement commands**
- **Keep emergency stop accessible**
- **Always verify robot is awake before movement commands**
- **Keep emergency stop accessible** (`qicli call ALMotion.rest()`)
- **Start with small movements (0.05 m/s)**
- **Monitor battery level during experiments**
- **Monitor battery level**
- **Ensure clear space around robot**
## 📝 Credentials
## Credentials
**Default NAO Login:**
**NAO Robot:**
- IP: `10.0.0.42` (configurable)
- Username: `nao`
- Password: `robolab` (institution-specific)
- Password: `nao`
**HRIStudio Login:**
**HRIStudio:**
- Email: `sean@soconnor.dev`
- Password: `password123`
## 🔄 Complete Restart Procedure
## Complete Restart
```bash
# 1. Kill all processes
sudo fuser -k 9090/tcp
pkill -f "rosbridge\|naoqi\|ros2"
# 1. Restart Docker integration
cd ~/Documents/Projects/nao6-hristudio-integration
docker compose down
docker compose up -d
# 2. Restart database
sudo docker compose down && sudo docker compose up -d
# 2. Verify robot is awake (check logs)
docker compose logs nao_driver | grep -i "wake\|autonomous"
# 3. Start ROS integration
cd ~/naoqi_ros2_ws && source install/setup.bash
ros2 launch install/nao_launch/share/nao_launch/launch/nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab
# 4. Wake up robot (in another terminal)
sshpass -p "robolab" ssh nao@nao.local "python2 -c \"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; naoqi.ALProxy('ALMotion', '127.0.0.1', 9559).wakeUp()\""
# 5. Start HRIStudio (in another terminal)
cd /home/robolab/Documents/Projects/hristudio && bun dev
# 3. Start HRIStudio
cd ~/Documents/Projects/hristudio
bun dev
```
---
**📖 For detailed setup instructions, see:** [NAO6 Complete Integration Guide](./nao6-integration-complete-guide.md)
**✅ Integration Status:** Production Ready
**🤖 Tested With:** NAO V6.0 / NAOqi 2.8.7.4 / ROS2 Humble
**🤖 Tested With:** NAO V6 / ROS2 Humble / Docker