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nao6 ros2 integration updated
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docs/nao6-quick-reference.md
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docs/nao6-quick-reference.md
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# NAO6 HRIStudio Quick Reference
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# NAO6 Quick Reference
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**Essential commands for NAO6 robot integration with HRIStudio**
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Essential commands for using NAO6 robots with HRIStudio.
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## 🚀 Quick Start (5 Steps)
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## Quick Start
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### 1. Start ROS Integration
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### 1. Start NAO Integration
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```bash
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cd ~/naoqi_ros2_ws
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source install/setup.bash
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ros2 launch install/nao_launch/share/nao_launch/launch/nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab
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ros2 launch nao_launch nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab
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```
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### 2. Wake Up Robot (CRITICAL!)
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### 2. Wake Robot
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Press chest button for 3 seconds, or use:
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```bash
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sshpass -p "robolab" ssh nao@nao.local "python2 -c \"
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import sys
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sys.path.append('/opt/aldebaran/lib/python2.7/site-packages')
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import naoqi
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motion = naoqi.ALProxy('ALMotion', '127.0.0.1', 9559)
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motion.wakeUp()
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print 'Robot awakened'
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\""
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# Via SSH (institution-specific password)
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ssh nao@nao.local
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# Then run wake-up command (see integration repo docs)
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```
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### 3. Start HRIStudio
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```bash
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cd /home/robolab/Documents/Projects/hristudio
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cd ~/Documents/Projects/hristudio
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bun dev
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```
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### 4. Access Test Interface
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- URL: `http://localhost:3000/nao-test`
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- Login: `sean@soconnor.dev` / `password123`
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### 4. Test Connection
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- Open: `http://localhost:3000/nao-test`
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- Click "Connect"
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- Test robot commands
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### 5. Test Robot
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- Click "Connect" to WebSocket
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- Try speech: "Hello from HRIStudio!"
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- Use movement buttons to control robot
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## Essential Commands
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## 🛠️ Essential Commands
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### Connection Testing
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### Test Connectivity
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```bash
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# Test NAO connectivity
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ping nao.local
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# Test NAOqi service
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telnet nao.local 9559
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# Check ROS topics
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ros2 topic list | grep naoqi
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ping nao.local # Test network
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ros2 topic list | grep naoqi # Check ROS topics
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```
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### Manual Robot Control
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### Manual Control
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```bash
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# Speech test
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# Speech
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ros2 topic pub --once /speech std_msgs/String "data: 'Hello world'"
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# Movement test (robot must be awake!)
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ros2 topic pub --times 3 /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.05, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'
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# Movement (robot must be awake!)
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ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.1}}'
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# Head movement test
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ros2 topic pub --once /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed '{joint_names: ["HeadYaw"], joint_angles: [0.5], speed: 0.3}'
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# Stop all movement
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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}}'
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# Stop
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ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.0}}'
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```
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### Status Checks
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### Monitor Status
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```bash
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# Check robot info
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ros2 service call /naoqi_driver/get_robot_config naoqi_bridge_msgs/srv/GetRobotInfo
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ros2 topic echo /naoqi_driver/battery # Battery level
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ros2 topic echo /naoqi_driver/joint_states # Joint positions
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```
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# Monitor joint states
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ros2 topic echo /naoqi_driver/joint_states --once
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## Troubleshooting
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# Check ROS nodes
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ros2 node list
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**Robot not moving:** Press chest button for 3 seconds to wake up
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# Check WebSocket connection
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**WebSocket fails:** Check rosbridge is running on port 9090
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```bash
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ss -an | grep 9090
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```
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## 🔧 Troubleshooting
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### Robot Not Moving
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**Problem:** Commands sent but robot doesn't move
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**Solution:** Robot needs to be awakened first
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**Connection lost:** Restart rosbridge
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```bash
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# Wake up via SSH (see step 2 above)
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# OR press chest button for 3 seconds
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pkill -f rosbridge
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ros2 run rosbridge_server rosbridge_websocket
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```
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### Connection Issues
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```bash
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# Kill existing processes
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sudo fuser -k 9090/tcp
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pkill -f "rosbridge\|naoqi\|ros2"
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## ROS Topics
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# Restart database
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sudo docker compose down && sudo docker compose up -d
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```
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### Import Errors in Web Interface
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**Problem:** React component import failures
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**Solution:** Use `~` import alias consistently:
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```typescript
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import { Button } from "~/components/ui/button";
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// NOT: import { Button } from "@/components/ui/button";
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```
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## 📊 Key Topics
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### Input Topics (Robot Control)
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**Commands (Input):**
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- `/speech` - Text-to-speech
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- `/cmd_vel` - Movement commands
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- `/joint_angles` - Joint position control
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- `/cmd_vel` - Movement
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- `/joint_angles` - Joint control
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### Output Topics (Sensor Data)
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- `/naoqi_driver/joint_states` - Joint positions/velocities
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**Sensors (Output):**
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- `/naoqi_driver/joint_states` - Joint data
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- `/naoqi_driver/battery` - Battery level
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- `/naoqi_driver/bumper` - Foot sensors
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- `/naoqi_driver/hand_touch` - Hand touch sensors
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- `/naoqi_driver/head_touch` - Head touch sensors
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- `/naoqi_driver/sonar/left` - Left ultrasonic sensor
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- `/naoqi_driver/sonar/right` - Right ultrasonic sensor
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- `/naoqi_driver/camera/front/image_raw` - Front camera
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- `/naoqi_driver/camera/bottom/image_raw` - Bottom camera
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- `/naoqi_driver/sonar/*` - Distance sensors
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- `/naoqi_driver/camera/*` - Camera feeds
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## 🔗 WebSocket Integration
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## WebSocket
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**ROS Bridge URL:** `ws://134.82.159.25:9090`
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**URL:** `ws://localhost:9090`
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**Message Format:**
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**Example message:**
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```javascript
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// Publish command
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{
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"op": "publish",
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"topic": "/speech",
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"type": "std_msgs/String",
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"msg": {"data": "Hello world"}
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}
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// Subscribe to topic
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{
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"op": "subscribe",
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"topic": "/naoqi_driver/joint_states",
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"type": "sensor_msgs/JointState"
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}
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```
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## 🎯 Common Use Cases
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## More Information
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See **[nao6-hristudio-integration](../../nao6-hristudio-integration/)** repository for:
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- Complete installation guide
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- Detailed usage instructions
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- Full troubleshooting guide
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- Plugin definitions
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- Launch file configurations
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## Common Use Cases
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### Make Robot Speak
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```bash
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