mirror of
https://github.com/soconnor0919/hristudio.git
synced 2025-12-12 07:04:44 -05:00
nao6 ros2 integration updated
This commit is contained in:
57
scripts/seed-dev.ts
Normal file → Executable file
57
scripts/seed-dev.ts
Normal file → Executable file
@@ -306,17 +306,6 @@ async function main() {
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syncStatus: "pending" as const,
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createdBy: seanUser.id,
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},
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{
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name: "NAO6 ROS2 Integration Repository",
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url: "http://localhost:3000/nao6-plugins",
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description:
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"Official NAO6 robot plugins for ROS2-based Human-Robot Interaction experiments",
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trustLevel: "official" as const,
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isEnabled: true,
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isOfficial: true,
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syncStatus: "pending" as const,
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createdBy: seanUser.id,
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},
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];
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const insertedRepos = await db
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@@ -428,24 +417,30 @@ async function main() {
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);
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}
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// Install NAO plugin for first study if available
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console.log("🤝 Installing NAO plugin (if available)...");
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// Install NAO6 ROS2 plugin for first study if available
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console.log("🤝 Installing NAO6 ROS2 plugin (if available)...");
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const naoPlugin = await db
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.select()
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.from(schema.plugins)
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.where(eq(schema.plugins.name, "NAO Humanoid Robot"))
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.where(eq(schema.plugins.name, "NAO6 Robot (ROS2 Integration)"))
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.limit(1);
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if (naoPlugin.length > 0 && insertedStudies[0]) {
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await db.insert(schema.studyPlugins).values({
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studyId: insertedStudies[0].id,
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pluginId: naoPlugin[0]!.id,
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configuration: { voice: "nao-tts", locale: "en-US" },
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configuration: {
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robotIp: "nao.local",
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websocketUrl: "ws://localhost:9090",
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maxLinearVelocity: 0.3,
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maxAngularVelocity: 1.0,
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defaultSpeed: 0.5,
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},
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installedBy: seanUser.id,
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});
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console.log("✅ Installed NAO plugin in first study");
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console.log("✅ Installed NAO6 ROS2 plugin in first study");
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} else {
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console.log(
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"ℹ️ NAO plugin not found in repository sync; continuing without it",
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"ℹ️ NAO6 ROS2 plugin not found in repository sync; continuing without it",
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);
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}
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@@ -557,31 +552,31 @@ async function main() {
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retryable: false,
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});
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// Resolve NAO plugin id/version for namespaced action type
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// Resolve NAO6 ROS2 plugin id/version for namespaced action type
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const naoDbPlugin1 = await db
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.select({ id: schema.plugins.id, version: schema.plugins.version })
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.from(schema.plugins)
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.where(eq(schema.plugins.name, "NAO Humanoid Robot"))
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.where(eq(schema.plugins.name, "NAO6 Robot (ROS2 Integration)"))
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.limit(1);
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const naoPluginRow1 = naoDbPlugin1[0];
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// Action 1.2: Robot/NAO says text (or wizard says fallback)
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// Action 1.2: Robot/NAO speaks text
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await db.insert(schema.actions).values({
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stepId: step1Id,
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name: naoPluginRow1 ? "NAO Say Text" : "Wizard Say",
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name: naoPluginRow1 ? "NAO Speak Text" : "Wizard Say",
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description: naoPluginRow1
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? "Make the robot speak using text-to-speech"
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? "Make the robot speak using text-to-speech via ROS2"
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: "Wizard speaks to participant",
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type: naoPluginRow1 ? `${naoPluginRow1.id}.say_text` : "wizard_say",
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type: naoPluginRow1 ? `${naoPluginRow1.id}.nao6_speak` : "wizard_say",
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orderIndex: 1,
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parameters: naoPluginRow1
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? { text: "Hello, I am NAO. Let's begin!", speed: 110, volume: 0.75 }
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? { text: "Hello, I am NAO. Let's begin!", volume: 0.8 }
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: { message: "Hello! Let's begin the session.", tone: "friendly" },
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sourceKind: naoPluginRow1 ? "plugin" : "core",
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pluginId: naoPluginRow1 ? naoPluginRow1.id : null,
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pluginVersion: naoPluginRow1 ? naoPluginRow1.version : null,
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category: naoPluginRow1 ? "robot" : "wizard",
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transport: naoPluginRow1 ? "rest" : "internal",
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transport: naoPluginRow1 ? "ros2" : "internal",
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retryable: false,
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});
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@@ -635,23 +630,23 @@ async function main() {
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const naoDbPlugin2 = await db
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.select({ id: schema.plugins.id, version: schema.plugins.version })
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.from(schema.plugins)
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.where(eq(schema.plugins.name, "NAO Humanoid Robot"))
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.where(eq(schema.plugins.name, "NAO6 Robot (ROS2 Integration)"))
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.limit(1);
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const naoPluginRow2 = naoDbPlugin2[0];
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if (naoPluginRow2) {
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await db.insert(schema.actions).values({
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stepId: step3Id,
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name: "Set LED Color",
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description: "Change NAO's eye LEDs to reflect state",
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type: `${naoPluginRow2.id}.set_led_color`,
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name: "NAO Move Head",
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description: "Move NAO's head to look at participant",
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type: `${naoPluginRow2.id}.nao6_move_head`,
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orderIndex: 0,
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parameters: { color: "blue", intensity: 0.6 },
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parameters: { yaw: 0.0, pitch: -0.2, speed: 0.3 },
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sourceKind: "plugin",
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pluginId: naoPluginRow2.id,
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pluginVersion: naoPluginRow2.version,
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category: "robot",
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transport: "rest",
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transport: "ros2",
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retryable: false,
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});
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} else {
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631
scripts/seed-nao6-plugin.ts
Normal file
631
scripts/seed-nao6-plugin.ts
Normal file
@@ -0,0 +1,631 @@
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#!/usr/bin/env bun
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/**
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* Seed NAO6 Plugin into HRIStudio Database
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*
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* This script adds the NAO6 ROS2 integration plugin to the HRIStudio database,
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* including the plugin repository and plugin definition with all available actions.
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*/
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import { drizzle } from "drizzle-orm/postgres-js";
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import postgres from "postgres";
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import { env } from "~/env";
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import {
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plugins,
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pluginRepositories,
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robots,
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users,
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type InsertPlugin,
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type InsertPluginRepository,
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type InsertRobot,
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} from "~/server/db/schema";
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import { eq } from "drizzle-orm";
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const connectionString = env.DATABASE_URL;
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const client = postgres(connectionString);
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const db = drizzle(client);
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async function seedNAO6Plugin() {
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console.log("🤖 Seeding NAO6 plugin into HRIStudio database...");
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try {
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// 0. Get system user for created_by fields
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console.log("👤 Getting system user...");
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const systemUser = await db
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.select()
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.from(users)
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.where(eq(users.email, "sean@soconnor.dev"))
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.limit(1);
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if (systemUser.length === 0) {
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throw new Error(
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"System user not found. Please run 'bun db:seed' first to create initial users.",
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);
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}
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const userId = systemUser[0]!.id;
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console.log(`✅ Found system user: ${userId}`);
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// 1. Create or update NAO6 robot entry
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console.log("📋 Creating NAO6 robot entry...");
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const existingRobot = await db
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.select()
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.from(robots)
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.where(eq(robots.name, "NAO6"))
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.limit(1);
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let robotId: string;
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if (existingRobot.length > 0) {
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robotId = existingRobot[0]!.id;
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console.log(`✅ Found existing NAO6 robot: ${robotId}`);
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} else {
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const newRobots = await db
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.insert(robots)
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.values({
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name: "NAO6",
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manufacturer: "SoftBank Robotics",
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model: "NAO V6.0",
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description:
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"Humanoid robot designed for education, research, and human-robot interaction studies. Features bipedal walking, speech synthesis, cameras, and comprehensive sensor suite.",
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capabilities: [
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"bipedal_walking",
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"speech_synthesis",
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"head_movement",
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"arm_gestures",
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"touch_sensors",
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"visual_sensors",
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"audio_sensors",
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"posture_control",
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"balance_control",
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],
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communicationProtocol: "ros2",
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} satisfies InsertRobot)
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.returning();
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robotId = newRobots[0]!.id;
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console.log(`✅ Created NAO6 robot: ${robotId}`);
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}
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// 2. Create or update plugin repository
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console.log("📦 Creating NAO6 plugin repository...");
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const existingRepo = await db
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.select()
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.from(pluginRepositories)
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.where(eq(pluginRepositories.name, "NAO6 ROS2 Integration Repository"))
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.limit(1);
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let repoId: string;
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if (existingRepo.length > 0) {
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repoId = existingRepo[0]!.id;
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console.log(`✅ Found existing repository: ${repoId}`);
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} else {
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const newRepos = await db
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.insert(pluginRepositories)
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.values({
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name: "NAO6 ROS2 Integration Repository",
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url: "https://github.com/hristudio/nao6-ros2-plugins",
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description:
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"Official NAO6 robot plugins for ROS2-based Human-Robot Interaction experiments",
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trustLevel: "official",
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isActive: true,
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isPublic: true,
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createdBy: userId,
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status: "active",
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lastSyncedAt: new Date(),
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metadata: {
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author: {
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name: "HRIStudio Team",
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email: "support@hristudio.com",
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},
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license: "MIT",
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ros2: {
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distro: "humble",
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packages: [
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"naoqi_driver2",
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"naoqi_bridge_msgs",
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"rosbridge_suite",
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],
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},
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supportedRobots: ["NAO6"],
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categories: [
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"movement",
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"speech",
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"sensors",
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"interaction",
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"vision",
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],
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},
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} satisfies InsertPluginRepository)
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.returning();
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repoId = newRepos[0]!.id;
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console.log(`✅ Created repository: ${repoId}`);
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}
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// 3. Create or update NAO6 plugin
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console.log("🔌 Creating NAO6 enhanced plugin...");
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const existingPlugin = await db
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.select()
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.from(plugins)
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.where(eq(plugins.name, "NAO6 Robot (Enhanced ROS2 Integration)"))
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.limit(1);
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const actionDefinitions = [
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{
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id: "nao_speak",
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name: "Speak Text",
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description:
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"Make the NAO robot speak the specified text using text-to-speech synthesis",
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category: "speech",
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icon: "volume2",
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parametersSchema: {
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type: "object",
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properties: {
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text: {
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type: "string",
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title: "Text to Speak",
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description: "The text that the robot should speak aloud",
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minLength: 1,
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maxLength: 500,
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},
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volume: {
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type: "number",
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title: "Volume",
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description: "Speech volume level (0.1 = quiet, 1.0 = loud)",
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default: 0.7,
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minimum: 0.1,
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maximum: 1.0,
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step: 0.1,
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},
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speed: {
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type: "number",
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title: "Speech Speed",
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description: "Speech rate multiplier (0.5 = slow, 2.0 = fast)",
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default: 1.0,
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minimum: 0.5,
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maximum: 2.0,
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step: 0.1,
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},
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},
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required: ["text"],
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},
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implementation: {
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type: "ros2_topic",
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topic: "/speech",
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messageType: "std_msgs/String",
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||||
},
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},
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{
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id: "nao_move",
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name: "Move Robot",
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description:
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"Move the NAO robot with specified linear and angular velocities",
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category: "movement",
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icon: "move",
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||||
parametersSchema: {
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type: "object",
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properties: {
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direction: {
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type: "string",
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title: "Movement Direction",
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description: "Predefined movement direction",
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enum: [
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"forward",
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"backward",
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"left",
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"right",
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"turn_left",
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"turn_right",
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],
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default: "forward",
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},
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distance: {
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type: "number",
|
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title: "Distance (meters)",
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description: "Distance to move in meters",
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default: 0.1,
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minimum: 0.01,
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||||
maximum: 2.0,
|
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step: 0.01,
|
||||
},
|
||||
speed: {
|
||||
type: "number",
|
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title: "Movement Speed",
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description: "Speed factor (0.1 = very slow, 1.0 = normal speed)",
|
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default: 0.5,
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||||
minimum: 0.1,
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||||
maximum: 1.0,
|
||||
step: 0.1,
|
||||
},
|
||||
},
|
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required: ["direction"],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_topic",
|
||||
topic: "/cmd_vel",
|
||||
messageType: "geometry_msgs/Twist",
|
||||
},
|
||||
},
|
||||
{
|
||||
id: "nao_pose",
|
||||
name: "Set Posture",
|
||||
description: "Set the NAO robot to a specific posture or pose",
|
||||
category: "movement",
|
||||
icon: "user",
|
||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
posture: {
|
||||
type: "string",
|
||||
title: "Posture",
|
||||
description: "Target posture for the robot",
|
||||
enum: ["Stand", "Sit", "SitRelax", "StandInit", "Crouch"],
|
||||
default: "Stand",
|
||||
},
|
||||
speed: {
|
||||
type: "number",
|
||||
title: "Movement Speed",
|
||||
description:
|
||||
"Speed of posture transition (0.1 = slow, 1.0 = fast)",
|
||||
default: 0.5,
|
||||
minimum: 0.1,
|
||||
maximum: 1.0,
|
||||
step: 0.1,
|
||||
},
|
||||
},
|
||||
required: ["posture"],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_service",
|
||||
service: "/naoqi_driver/robot_posture/go_to_posture",
|
||||
serviceType: "naoqi_bridge_msgs/srv/SetString",
|
||||
},
|
||||
},
|
||||
{
|
||||
id: "nao_head_movement",
|
||||
name: "Move Head",
|
||||
description:
|
||||
"Control NAO robot head movement for gaze direction and attention",
|
||||
category: "movement",
|
||||
icon: "eye",
|
||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
headYaw: {
|
||||
type: "number",
|
||||
title: "Head Yaw (degrees)",
|
||||
description:
|
||||
"Left/right head rotation (-90° = right, +90° = left)",
|
||||
default: 0.0,
|
||||
minimum: -90.0,
|
||||
maximum: 90.0,
|
||||
step: 1.0,
|
||||
},
|
||||
headPitch: {
|
||||
type: "number",
|
||||
title: "Head Pitch (degrees)",
|
||||
description: "Up/down head rotation (-25° = down, +25° = up)",
|
||||
default: 0.0,
|
||||
minimum: -25.0,
|
||||
maximum: 25.0,
|
||||
step: 1.0,
|
||||
},
|
||||
speed: {
|
||||
type: "number",
|
||||
title: "Movement Speed",
|
||||
description: "Speed of head movement (0.1 = slow, 1.0 = fast)",
|
||||
default: 0.3,
|
||||
minimum: 0.1,
|
||||
maximum: 1.0,
|
||||
step: 0.1,
|
||||
},
|
||||
},
|
||||
required: [],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_topic",
|
||||
topic: "/joint_angles",
|
||||
messageType: "naoqi_bridge_msgs/JointAnglesWithSpeed",
|
||||
},
|
||||
},
|
||||
{
|
||||
id: "nao_gesture",
|
||||
name: "Perform Gesture",
|
||||
description:
|
||||
"Make NAO robot perform predefined gestures and animations",
|
||||
category: "interaction",
|
||||
icon: "hand",
|
||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
gesture: {
|
||||
type: "string",
|
||||
title: "Gesture Type",
|
||||
description: "Select a predefined gesture or animation",
|
||||
enum: [
|
||||
"wave",
|
||||
"point_left",
|
||||
"point_right",
|
||||
"applause",
|
||||
"thumbs_up",
|
||||
],
|
||||
default: "wave",
|
||||
},
|
||||
intensity: {
|
||||
type: "number",
|
||||
title: "Gesture Intensity",
|
||||
description:
|
||||
"Intensity of the gesture movement (0.5 = subtle, 1.0 = full)",
|
||||
default: 0.8,
|
||||
minimum: 0.3,
|
||||
maximum: 1.0,
|
||||
step: 0.1,
|
||||
},
|
||||
},
|
||||
required: ["gesture"],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_service",
|
||||
service: "/naoqi_driver/animation_player/run_animation",
|
||||
serviceType: "naoqi_bridge_msgs/srv/SetString",
|
||||
},
|
||||
},
|
||||
{
|
||||
id: "nao_sensor_monitor",
|
||||
name: "Monitor Sensors",
|
||||
description: "Monitor NAO robot sensors for interaction detection",
|
||||
category: "sensors",
|
||||
icon: "activity",
|
||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
sensorType: {
|
||||
type: "string",
|
||||
title: "Sensor Type",
|
||||
description: "Which sensors to monitor",
|
||||
enum: ["touch", "bumper", "sonar", "all"],
|
||||
default: "touch",
|
||||
},
|
||||
duration: {
|
||||
type: "number",
|
||||
title: "Duration (seconds)",
|
||||
description: "How long to monitor sensors",
|
||||
default: 10,
|
||||
minimum: 1,
|
||||
maximum: 300,
|
||||
},
|
||||
},
|
||||
required: ["sensorType"],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_subscription",
|
||||
topics: [
|
||||
"/naoqi_driver/bumper",
|
||||
"/naoqi_driver/hand_touch",
|
||||
"/naoqi_driver/head_touch",
|
||||
],
|
||||
},
|
||||
},
|
||||
{
|
||||
id: "nao_emergency_stop",
|
||||
name: "Emergency Stop",
|
||||
description: "Immediately stop all robot movement for safety",
|
||||
category: "safety",
|
||||
icon: "stop-circle",
|
||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
stopType: {
|
||||
type: "string",
|
||||
title: "Stop Type",
|
||||
description: "Type of emergency stop",
|
||||
enum: ["movement", "all"],
|
||||
default: "all",
|
||||
},
|
||||
},
|
||||
required: [],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_topic",
|
||||
topic: "/cmd_vel",
|
||||
messageType: "geometry_msgs/Twist",
|
||||
},
|
||||
},
|
||||
{
|
||||
id: "nao_wake_rest",
|
||||
name: "Wake Up / Rest Robot",
|
||||
description: "Wake up the robot or put it to rest position",
|
||||
category: "system",
|
||||
icon: "power",
|
||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
action: {
|
||||
type: "string",
|
||||
title: "Action",
|
||||
description: "Wake up robot or put to rest",
|
||||
enum: ["wake", "rest"],
|
||||
default: "wake",
|
||||
},
|
||||
},
|
||||
required: ["action"],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_service",
|
||||
service: "/naoqi_driver/motion/wake_up",
|
||||
serviceType: "std_srvs/srv/Empty",
|
||||
},
|
||||
},
|
||||
{
|
||||
id: "nao_status_check",
|
||||
name: "Check Robot Status",
|
||||
description: "Get current robot status including battery and health",
|
||||
category: "system",
|
||||
icon: "info",
|
||||
parametersSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
statusType: {
|
||||
type: "string",
|
||||
title: "Status Type",
|
||||
description: "What status information to retrieve",
|
||||
enum: ["basic", "battery", "sensors", "all"],
|
||||
default: "basic",
|
||||
},
|
||||
},
|
||||
required: ["statusType"],
|
||||
},
|
||||
implementation: {
|
||||
type: "ros2_service",
|
||||
service: "/naoqi_driver/get_robot_config",
|
||||
serviceType: "naoqi_bridge_msgs/srv/GetRobotInfo",
|
||||
},
|
||||
},
|
||||
];
|
||||
|
||||
const pluginData: InsertPlugin = {
|
||||
repositoryId: repoId,
|
||||
robotId: robotId,
|
||||
name: "NAO6 Robot (Enhanced ROS2 Integration)",
|
||||
version: "2.0.0",
|
||||
description:
|
||||
"Comprehensive NAO6 robot integration for HRIStudio experiments via ROS2. Provides full robot control including movement, speech synthesis, posture control, sensor monitoring, and safety features.",
|
||||
author: "HRIStudio RoboLab Team",
|
||||
repositoryUrl: "https://github.com/hristudio/nao6-ros2-plugins",
|
||||
trustLevel: "official",
|
||||
status: "active",
|
||||
configurationSchema: {
|
||||
type: "object",
|
||||
properties: {
|
||||
robotIp: {
|
||||
type: "string",
|
||||
default: "nao.local",
|
||||
title: "Robot IP Address",
|
||||
description: "IP address or hostname of the NAO6 robot",
|
||||
},
|
||||
robotPassword: {
|
||||
type: "string",
|
||||
default: "robolab",
|
||||
title: "Robot Password",
|
||||
description: "Password for robot authentication",
|
||||
format: "password",
|
||||
},
|
||||
websocketUrl: {
|
||||
type: "string",
|
||||
default: "ws://localhost:9090",
|
||||
title: "WebSocket URL",
|
||||
description: "ROS bridge WebSocket URL for robot communication",
|
||||
},
|
||||
maxLinearVelocity: {
|
||||
type: "number",
|
||||
default: 0.2,
|
||||
minimum: 0.01,
|
||||
maximum: 0.5,
|
||||
title: "Max Linear Velocity (m/s)",
|
||||
description: "Maximum allowed linear movement speed for safety",
|
||||
},
|
||||
speechVolume: {
|
||||
type: "number",
|
||||
default: 0.7,
|
||||
minimum: 0.1,
|
||||
maximum: 1.0,
|
||||
title: "Speech Volume",
|
||||
description: "Default volume for speech synthesis",
|
||||
},
|
||||
enableSafetyMonitoring: {
|
||||
type: "boolean",
|
||||
default: true,
|
||||
title: "Enable Safety Monitoring",
|
||||
description:
|
||||
"Enable automatic safety monitoring and emergency stops",
|
||||
},
|
||||
},
|
||||
required: ["robotIp", "websocketUrl"],
|
||||
},
|
||||
actionDefinitions: actionDefinitions,
|
||||
metadata: {
|
||||
robotModel: "NAO V6.0",
|
||||
manufacturer: "SoftBank Robotics",
|
||||
naoqiVersion: "2.8.7.4",
|
||||
ros2Distro: "humble",
|
||||
launchPackage: "nao_launch",
|
||||
capabilities: [
|
||||
"bipedal_walking",
|
||||
"speech_synthesis",
|
||||
"head_movement",
|
||||
"arm_gestures",
|
||||
"touch_sensors",
|
||||
"visual_sensors",
|
||||
"posture_control",
|
||||
],
|
||||
tags: [
|
||||
"nao6",
|
||||
"ros2",
|
||||
"speech",
|
||||
"movement",
|
||||
"sensors",
|
||||
"hri",
|
||||
"production",
|
||||
],
|
||||
},
|
||||
};
|
||||
|
||||
if (existingPlugin.length > 0) {
|
||||
await db
|
||||
.update(plugins)
|
||||
.set({
|
||||
...pluginData,
|
||||
updatedAt: new Date(),
|
||||
})
|
||||
.where(eq(plugins.id, existingPlugin[0]!.id));
|
||||
|
||||
console.log(`✅ Updated existing NAO6 plugin: ${existingPlugin[0]!.id}`);
|
||||
} else {
|
||||
const newPlugins = await db
|
||||
.insert(plugins)
|
||||
.values(pluginData)
|
||||
.returning();
|
||||
|
||||
console.log(`✅ Created NAO6 plugin: ${newPlugins[0]!.id}`);
|
||||
}
|
||||
|
||||
console.log("\n🎉 NAO6 plugin seeding completed successfully!");
|
||||
console.log("\nNext steps:");
|
||||
console.log("1. Install the plugin in a study via the HRIStudio interface");
|
||||
console.log("2. Configure the robot IP and WebSocket URL");
|
||||
console.log(
|
||||
"3. Launch ROS integration: ros2 launch nao_launch nao6_production.launch.py",
|
||||
);
|
||||
console.log("4. Test robot actions in the experiment designer");
|
||||
|
||||
console.log("\n📊 Plugin Summary:");
|
||||
console.log(` Robot: NAO6 (${robotId})`);
|
||||
console.log(` Repository: NAO6 ROS2 Integration (${repoId})`);
|
||||
console.log(` Actions: ${actionDefinitions.length} available`);
|
||||
console.log(
|
||||
" Categories: speech, movement, interaction, sensors, safety, system",
|
||||
);
|
||||
} catch (error) {
|
||||
console.error("❌ Error seeding NAO6 plugin:", error);
|
||||
throw error;
|
||||
} finally {
|
||||
await client.end();
|
||||
}
|
||||
}
|
||||
|
||||
// Run the seeding script
|
||||
seedNAO6Plugin()
|
||||
.then(() => {
|
||||
console.log("✅ Database seeding completed");
|
||||
process.exit(0);
|
||||
})
|
||||
.catch((error) => {
|
||||
console.error("❌ Database seeding failed:", error);
|
||||
process.exit(1);
|
||||
});
|
||||
0
scripts/test-seed-data.ts
Normal file → Executable file
0
scripts/test-seed-data.ts
Normal file → Executable file
561
scripts/verify-nao6-integration.sh
Executable file
561
scripts/verify-nao6-integration.sh
Executable file
@@ -0,0 +1,561 @@
|
||||
#!/bin/bash
|
||||
#
|
||||
# NAO6 HRIStudio Integration Verification Script
|
||||
#
|
||||
# This script performs comprehensive verification of the NAO6 integration with HRIStudio,
|
||||
# checking all components from ROS2 workspace to database plugins and providing
|
||||
# detailed status and next steps.
|
||||
#
|
||||
# Usage: ./verify-nao6-integration.sh [--robot-ip IP] [--verbose]
|
||||
#
|
||||
|
||||
set -e
|
||||
|
||||
# =================================================================
|
||||
# CONFIGURATION AND DEFAULTS
|
||||
# =================================================================
|
||||
|
||||
NAO_IP="${1:-nao.local}"
|
||||
VERBOSE=false
|
||||
HRISTUDIO_DIR="${HOME}/Documents/Projects/hristudio"
|
||||
ROS_WS="${HOME}/naoqi_ros2_ws"
|
||||
|
||||
# Colors for output
|
||||
RED='\033[0;31m'
|
||||
GREEN='\033[0;32m'
|
||||
YELLOW='\033[1;33m'
|
||||
BLUE='\033[0;34m'
|
||||
PURPLE='\033[0;35m'
|
||||
CYAN='\033[0;36m'
|
||||
NC='\033[0m' # No Color
|
||||
|
||||
# =================================================================
|
||||
# UTILITY FUNCTIONS
|
||||
# =================================================================
|
||||
|
||||
log_info() {
|
||||
echo -e "${BLUE}[INFO]${NC} $1"
|
||||
}
|
||||
|
||||
log_success() {
|
||||
echo -e "${GREEN}[✅ PASS]${NC} $1"
|
||||
}
|
||||
|
||||
log_warning() {
|
||||
echo -e "${YELLOW}[⚠️ WARN]${NC} $1"
|
||||
}
|
||||
|
||||
log_error() {
|
||||
echo -e "${RED}[❌ FAIL]${NC} $1"
|
||||
}
|
||||
|
||||
log_step() {
|
||||
echo -e "${PURPLE}[STEP]${NC} $1"
|
||||
}
|
||||
|
||||
log_verbose() {
|
||||
if [ "$VERBOSE" = true ]; then
|
||||
echo -e "${CYAN}[DEBUG]${NC} $1"
|
||||
fi
|
||||
}
|
||||
|
||||
show_header() {
|
||||
echo -e "${CYAN}"
|
||||
echo "================================================================="
|
||||
echo " NAO6 HRIStudio Integration Verification"
|
||||
echo "================================================================="
|
||||
echo -e "${NC}"
|
||||
echo "Target Robot: $NAO_IP"
|
||||
echo "HRIStudio: $HRISTUDIO_DIR"
|
||||
echo "ROS Workspace: $ROS_WS"
|
||||
echo ""
|
||||
}
|
||||
|
||||
# =================================================================
|
||||
# VERIFICATION FUNCTIONS
|
||||
# =================================================================
|
||||
|
||||
check_prerequisites() {
|
||||
log_step "Checking prerequisites and dependencies..."
|
||||
|
||||
local errors=0
|
||||
|
||||
# Check ROS2 installation
|
||||
if command -v ros2 >/dev/null 2>&1; then
|
||||
local ros_distro=$(ros2 --version 2>/dev/null | grep -o "humble\|iron\|rolling" || echo "unknown")
|
||||
log_success "ROS2 found (distro: $ros_distro)"
|
||||
else
|
||||
log_error "ROS2 not found - install ROS2 Humble"
|
||||
((errors++))
|
||||
fi
|
||||
|
||||
# Check required tools
|
||||
local tools=("ping" "ssh" "sshpass" "bun" "docker")
|
||||
for tool in "${tools[@]}"; do
|
||||
if command -v $tool >/dev/null 2>&1; then
|
||||
log_success "$tool available"
|
||||
else
|
||||
log_warning "$tool not found (may be optional)"
|
||||
fi
|
||||
done
|
||||
|
||||
# Check ROS workspace
|
||||
if [ -d "$ROS_WS" ]; then
|
||||
log_success "NAOqi ROS2 workspace found"
|
||||
|
||||
if [ -f "$ROS_WS/install/setup.bash" ]; then
|
||||
log_success "ROS workspace built and ready"
|
||||
else
|
||||
log_warning "ROS workspace not built - run: cd $ROS_WS && colcon build"
|
||||
fi
|
||||
else
|
||||
log_error "NAOqi ROS2 workspace not found at $ROS_WS"
|
||||
((errors++))
|
||||
fi
|
||||
|
||||
# Check HRIStudio directory
|
||||
if [ -d "$HRISTUDIO_DIR" ]; then
|
||||
log_success "HRIStudio directory found"
|
||||
|
||||
if [ -f "$HRISTUDIO_DIR/package.json" ]; then
|
||||
log_success "HRIStudio package configuration found"
|
||||
else
|
||||
log_warning "HRIStudio package.json not found"
|
||||
fi
|
||||
else
|
||||
log_error "HRIStudio directory not found at $HRISTUDIO_DIR"
|
||||
((errors++))
|
||||
fi
|
||||
|
||||
return $errors
|
||||
}
|
||||
|
||||
check_nao_launch_package() {
|
||||
log_step "Verifying nao_launch package..."
|
||||
|
||||
local errors=0
|
||||
local package_dir="$ROS_WS/src/nao_launch"
|
||||
|
||||
if [ -d "$package_dir" ]; then
|
||||
log_success "nao_launch package directory found"
|
||||
|
||||
# Check launch files
|
||||
local launch_files=(
|
||||
"nao6_hristudio.launch.py"
|
||||
"nao6_production.launch.py"
|
||||
"nao6_hristudio_enhanced.launch.py"
|
||||
)
|
||||
|
||||
for launch_file in "${launch_files[@]}"; do
|
||||
if [ -f "$package_dir/launch/$launch_file" ]; then
|
||||
log_success "Launch file: $launch_file"
|
||||
else
|
||||
log_warning "Missing launch file: $launch_file"
|
||||
fi
|
||||
done
|
||||
|
||||
# Check scripts
|
||||
if [ -d "$package_dir/scripts" ]; then
|
||||
log_success "Scripts directory found"
|
||||
|
||||
local scripts=("nao_control.py" "start_nao6_hristudio.sh")
|
||||
for script in "${scripts[@]}"; do
|
||||
if [ -f "$package_dir/scripts/$script" ]; then
|
||||
log_success "Script: $script"
|
||||
else
|
||||
log_warning "Missing script: $script"
|
||||
fi
|
||||
done
|
||||
else
|
||||
log_warning "Scripts directory not found"
|
||||
fi
|
||||
|
||||
# Check if package is built
|
||||
if [ -f "$ROS_WS/install/nao_launch/share/nao_launch/package.xml" ]; then
|
||||
log_success "nao_launch package built and installed"
|
||||
else
|
||||
log_warning "nao_launch package not built - run: cd $ROS_WS && colcon build --packages-select nao_launch"
|
||||
fi
|
||||
|
||||
else
|
||||
log_error "nao_launch package directory not found"
|
||||
((errors++))
|
||||
fi
|
||||
|
||||
return $errors
|
||||
}
|
||||
|
||||
check_robot_connectivity() {
|
||||
log_step "Testing NAO robot connectivity..."
|
||||
|
||||
local errors=0
|
||||
|
||||
# Test ping
|
||||
log_verbose "Testing ping to $NAO_IP..."
|
||||
if ping -c 2 -W 3 "$NAO_IP" >/dev/null 2>&1; then
|
||||
log_success "Robot responds to ping"
|
||||
else
|
||||
log_error "Cannot ping robot at $NAO_IP - check network/IP"
|
||||
((errors++))
|
||||
return $errors
|
||||
fi
|
||||
|
||||
# Test NAOqi port
|
||||
log_verbose "Testing NAOqi service on port 9559..."
|
||||
if timeout 5 bash -c "echo >/dev/tcp/$NAO_IP/9559" 2>/dev/null; then
|
||||
log_success "NAOqi service accessible on port 9559"
|
||||
else
|
||||
log_error "Cannot connect to NAOqi on $NAO_IP:9559"
|
||||
((errors++))
|
||||
fi
|
||||
|
||||
# Test SSH (optional)
|
||||
log_verbose "Testing SSH connectivity (optional)..."
|
||||
if timeout 5 ssh -o StrictHostKeyChecking=no -o ConnectTimeout=3 -o BatchMode=yes nao@$NAO_IP echo "SSH test" >/dev/null 2>&1; then
|
||||
log_success "SSH connectivity working"
|
||||
else
|
||||
log_warning "SSH connectivity failed - may need password for wake-up"
|
||||
fi
|
||||
|
||||
return $errors
|
||||
}
|
||||
|
||||
check_hristudio_database() {
|
||||
log_step "Checking HRIStudio database and plugins..."
|
||||
|
||||
local errors=0
|
||||
|
||||
# Check if database is running
|
||||
if docker ps | grep -q postgres || ss -ln | grep -q :5432 || ss -ln | grep -q :5140; then
|
||||
log_success "Database appears to be running"
|
||||
|
||||
# Try to query database (requires HRIStudio to be set up)
|
||||
cd "$HRISTUDIO_DIR" 2>/dev/null || true
|
||||
|
||||
if [ -f "$HRISTUDIO_DIR/.env" ] || [ -n "$DATABASE_URL" ]; then
|
||||
log_success "Database configuration found"
|
||||
|
||||
# Check for NAO6 plugin (this would require running a query)
|
||||
log_info "Database plugins check would require HRIStudio connection"
|
||||
|
||||
else
|
||||
log_warning "Database configuration not found - check .env file"
|
||||
fi
|
||||
|
||||
else
|
||||
log_warning "Database not running - start with: docker compose up -d"
|
||||
fi
|
||||
|
||||
return $errors
|
||||
}
|
||||
|
||||
check_ros_dependencies() {
|
||||
log_step "Checking ROS dependencies and packages..."
|
||||
|
||||
local errors=0
|
||||
|
||||
# Source ROS if available
|
||||
if [ -f "/opt/ros/humble/setup.bash" ]; then
|
||||
source /opt/ros/humble/setup.bash 2>/dev/null || true
|
||||
log_success "ROS2 Humble environment sourced"
|
||||
fi
|
||||
|
||||
# Check required ROS packages
|
||||
local required_packages=(
|
||||
"rosbridge_server"
|
||||
"rosapi"
|
||||
"std_msgs"
|
||||
"geometry_msgs"
|
||||
"sensor_msgs"
|
||||
)
|
||||
|
||||
for package in "${required_packages[@]}"; do
|
||||
if ros2 pkg list 2>/dev/null | grep -q "^$package$"; then
|
||||
log_success "ROS package: $package"
|
||||
else
|
||||
log_warning "ROS package missing: $package"
|
||||
fi
|
||||
done
|
||||
|
||||
# Check NAOqi-specific packages
|
||||
local naoqi_packages=(
|
||||
"naoqi_driver"
|
||||
"naoqi_bridge_msgs"
|
||||
)
|
||||
|
||||
for package in "${naoqi_packages[@]}"; do
|
||||
if [ -d "$ROS_WS/src/naoqi_driver2" ] || [ -d "$ROS_WS/install/$package" ]; then
|
||||
log_success "NAOqi package: $package"
|
||||
else
|
||||
log_warning "NAOqi package not found: $package"
|
||||
fi
|
||||
done
|
||||
|
||||
return $errors
|
||||
}
|
||||
|
||||
check_plugin_files() {
|
||||
log_step "Checking HRIStudio plugin files..."
|
||||
|
||||
local errors=0
|
||||
local plugin_dir="$HRISTUDIO_DIR/public/nao6-plugins"
|
||||
|
||||
if [ -d "$plugin_dir" ]; then
|
||||
log_success "NAO6 plugins directory found"
|
||||
|
||||
# Check repository metadata
|
||||
if [ -f "$plugin_dir/repository.json" ]; then
|
||||
log_success "Repository metadata file found"
|
||||
|
||||
# Validate JSON
|
||||
if command -v jq >/dev/null 2>&1; then
|
||||
if jq empty "$plugin_dir/repository.json" 2>/dev/null; then
|
||||
log_success "Repository metadata is valid JSON"
|
||||
else
|
||||
log_error "Repository metadata has invalid JSON"
|
||||
((errors++))
|
||||
fi
|
||||
fi
|
||||
else
|
||||
log_warning "Repository metadata not found"
|
||||
fi
|
||||
|
||||
# Check plugin definition
|
||||
if [ -f "$plugin_dir/nao6-ros2-enhanced.json" ]; then
|
||||
log_success "NAO6 plugin definition found"
|
||||
|
||||
# Validate JSON
|
||||
if command -v jq >/dev/null 2>&1; then
|
||||
if jq empty "$plugin_dir/nao6-ros2-enhanced.json" 2>/dev/null; then
|
||||
local action_count=$(jq '.actionDefinitions | length' "$plugin_dir/nao6-ros2-enhanced.json" 2>/dev/null || echo "0")
|
||||
log_success "Plugin definition valid with $action_count actions"
|
||||
else
|
||||
log_error "Plugin definition has invalid JSON"
|
||||
((errors++))
|
||||
fi
|
||||
fi
|
||||
else
|
||||
log_warning "NAO6 plugin definition not found"
|
||||
fi
|
||||
|
||||
else
|
||||
log_warning "NAO6 plugins directory not found - plugins may be in database only"
|
||||
fi
|
||||
|
||||
return $errors
|
||||
}
|
||||
|
||||
show_integration_status() {
|
||||
echo ""
|
||||
echo -e "${CYAN}================================================================="
|
||||
echo " INTEGRATION STATUS SUMMARY"
|
||||
echo -e "=================================================================${NC}"
|
||||
echo ""
|
||||
|
||||
echo -e "${GREEN}🤖 NAO6 Robot Integration Components:${NC}"
|
||||
echo " ✅ ROS2 Workspace: $ROS_WS"
|
||||
echo " ✅ nao_launch Package: Enhanced launch files and scripts"
|
||||
echo " ✅ HRIStudio Plugin: Database integration with 9 actions"
|
||||
echo " ✅ Plugin Repository: Local and remote plugin definitions"
|
||||
echo ""
|
||||
|
||||
echo -e "${BLUE}🔧 Available Launch Configurations:${NC}"
|
||||
echo " 📦 Production: ros2 launch nao_launch nao6_production.launch.py"
|
||||
echo " 🔍 Enhanced: ros2 launch nao_launch nao6_hristudio_enhanced.launch.py"
|
||||
echo " ⚡ Basic: ros2 launch nao_launch nao6_hristudio.launch.py"
|
||||
echo ""
|
||||
|
||||
echo -e "${PURPLE}🎮 Robot Control Options:${NC}"
|
||||
echo " 🖥️ Command Line: python3 scripts/nao_control.py --ip $NAO_IP"
|
||||
echo " 🌐 Web Interface: http://localhost:3000/nao-test"
|
||||
echo " 🧪 HRIStudio: Experiment designer with NAO6 actions"
|
||||
echo ""
|
||||
|
||||
echo -e "${YELLOW}📋 Available Actions in HRIStudio:${NC}"
|
||||
echo " 🗣️ Speech: Text-to-speech synthesis"
|
||||
echo " 🚶 Movement: Walking, turning, positioning"
|
||||
echo " 🧍 Posture: Stand, sit, crouch poses"
|
||||
echo " 👀 Head: Gaze control and attention direction"
|
||||
echo " 👋 Gestures: Wave, point, applause, custom animations"
|
||||
echo " 📡 Sensors: Touch, bumper, sonar monitoring"
|
||||
echo " 🛑 Safety: Emergency stop and status checking"
|
||||
echo " ⚡ System: Wake/rest and robot management"
|
||||
echo ""
|
||||
}
|
||||
|
||||
show_next_steps() {
|
||||
echo -e "${GREEN}🚀 Next Steps to Start Using NAO6 Integration:${NC}"
|
||||
echo ""
|
||||
|
||||
echo "1. 📡 Start ROS Integration:"
|
||||
echo " cd $ROS_WS && source install/setup.bash"
|
||||
echo " ros2 launch nao_launch nao6_production.launch.py nao_ip:=$NAO_IP password:=robolab"
|
||||
echo ""
|
||||
|
||||
echo "2. 🌐 Start HRIStudio:"
|
||||
echo " cd $HRISTUDIO_DIR"
|
||||
echo " bun dev"
|
||||
echo ""
|
||||
|
||||
echo "3. 🧪 Test Integration:"
|
||||
echo " • Open: http://localhost:3000/nao-test"
|
||||
echo " • Click 'Connect' to establish WebSocket connection"
|
||||
echo " • Try robot commands (speech, movement, etc.)"
|
||||
echo ""
|
||||
|
||||
echo "4. 🔬 Create Experiments:"
|
||||
echo " • Login to HRIStudio: sean@soconnor.dev / password123"
|
||||
echo " • Go to Study → Plugins → Install NAO6 plugin"
|
||||
echo " • Configure robot IP: $NAO_IP"
|
||||
echo " • Design experiments using NAO6 actions"
|
||||
echo ""
|
||||
|
||||
echo "5. 🛠️ Troubleshooting:"
|
||||
echo " • Robot not responding: Wake up with chest button (3 seconds)"
|
||||
echo " • Connection issues: Check network and robot IP"
|
||||
echo " • WebSocket problems: Verify rosbridge is running"
|
||||
echo " • Emergency stop: Use Ctrl+C or emergency action"
|
||||
echo ""
|
||||
}
|
||||
|
||||
show_comprehensive_summary() {
|
||||
echo -e "${CYAN}================================================================="
|
||||
echo " COMPREHENSIVE INTEGRATION SUMMARY"
|
||||
echo -e "=================================================================${NC}"
|
||||
echo ""
|
||||
|
||||
echo -e "${GREEN}✅ COMPLETED ENHANCEMENTS:${NC}"
|
||||
echo ""
|
||||
|
||||
echo -e "${BLUE}📦 Enhanced nao_launch Package:${NC}"
|
||||
echo " • Production-optimized launch files with safety features"
|
||||
echo " • Comprehensive robot control and monitoring scripts"
|
||||
echo " • Automatic wake-up and error recovery"
|
||||
echo " • Performance-tuned sensor frequencies for HRIStudio"
|
||||
echo " • Emergency stop and safety monitoring capabilities"
|
||||
echo ""
|
||||
|
||||
echo -e "${BLUE}🔌 Enhanced Plugin Integration:${NC}"
|
||||
echo " • Complete NAO6 plugin with 9 comprehensive actions"
|
||||
echo " • Type-safe configuration schema for robot settings"
|
||||
echo " • WebSocket integration for real-time robot control"
|
||||
echo " • Safety parameters and velocity limits"
|
||||
echo " • Comprehensive action parameter validation"
|
||||
echo ""
|
||||
|
||||
echo -e "${BLUE}🛠️ Utility Scripts and Tools:${NC}"
|
||||
echo " • nao_control.py - Command-line robot control and monitoring"
|
||||
echo " • start_nao6_hristudio.sh - Comprehensive startup automation"
|
||||
echo " • Enhanced CMakeLists.txt and package metadata"
|
||||
echo " • Database seeding scripts for plugin installation"
|
||||
echo " • Comprehensive documentation and troubleshooting guides"
|
||||
echo ""
|
||||
|
||||
echo -e "${BLUE}📚 Documentation and Guides:${NC}"
|
||||
echo " • Complete README with setup and usage instructions"
|
||||
echo " • Plugin repository metadata and action definitions"
|
||||
echo " • Safety guidelines and emergency procedures"
|
||||
echo " • Troubleshooting guide for common issues"
|
||||
echo " • Integration examples and common use cases"
|
||||
echo ""
|
||||
|
||||
echo -e "${PURPLE}🎯 Production-Ready Features:${NC}"
|
||||
echo " • Automatic robot wake-up on experiment start"
|
||||
echo " • Safety monitoring with emergency stop capabilities"
|
||||
echo " • Optimized sensor publishing for experimental workflows"
|
||||
echo " • Robust error handling and recovery mechanisms"
|
||||
echo " • Performance tuning for stable long-running experiments"
|
||||
echo " • Comprehensive logging and status monitoring"
|
||||
echo ""
|
||||
|
||||
echo -e "${YELLOW}🔬 Research Capabilities:${NC}"
|
||||
echo " • Complete speech synthesis with volume/speed control"
|
||||
echo " • Precise movement control with safety limits"
|
||||
echo " • Posture control for experimental positioning"
|
||||
echo " • Head movement for gaze and attention studies"
|
||||
echo " • Gesture library for social interaction research"
|
||||
echo " • Comprehensive sensor monitoring for interaction detection"
|
||||
echo " • Real-time status monitoring for experimental validity"
|
||||
echo ""
|
||||
}
|
||||
|
||||
# =================================================================
|
||||
# MAIN EXECUTION
|
||||
# =================================================================
|
||||
|
||||
main() {
|
||||
# Parse arguments
|
||||
while [[ $# -gt 0 ]]; do
|
||||
case $1 in
|
||||
--robot-ip)
|
||||
NAO_IP="$2"
|
||||
shift 2
|
||||
;;
|
||||
--verbose)
|
||||
VERBOSE=true
|
||||
shift
|
||||
;;
|
||||
--help)
|
||||
echo "Usage: $0 [--robot-ip IP] [--verbose]"
|
||||
exit 0
|
||||
;;
|
||||
*)
|
||||
NAO_IP="$1"
|
||||
shift
|
||||
;;
|
||||
esac
|
||||
done
|
||||
|
||||
# Show header
|
||||
show_header
|
||||
|
||||
# Run verification checks
|
||||
local total_errors=0
|
||||
|
||||
check_prerequisites
|
||||
total_errors=$((total_errors + $?))
|
||||
|
||||
check_nao_launch_package
|
||||
total_errors=$((total_errors + $?))
|
||||
|
||||
check_robot_connectivity
|
||||
total_errors=$((total_errors + $?))
|
||||
|
||||
check_hristudio_database
|
||||
total_errors=$((total_errors + $?))
|
||||
|
||||
check_ros_dependencies
|
||||
total_errors=$((total_errors + $?))
|
||||
|
||||
check_plugin_files
|
||||
total_errors=$((total_errors + $?))
|
||||
|
||||
# Show results
|
||||
echo ""
|
||||
if [ $total_errors -eq 0 ]; then
|
||||
log_success "All verification checks passed! 🎉"
|
||||
|
||||
show_integration_status
|
||||
show_next_steps
|
||||
show_comprehensive_summary
|
||||
|
||||
echo -e "${GREEN}🎊 NAO6 HRIStudio Integration is ready for use!${NC}"
|
||||
echo ""
|
||||
|
||||
else
|
||||
log_warning "Verification completed with $total_errors issues"
|
||||
echo ""
|
||||
echo -e "${YELLOW}⚠️ Some components need attention before full integration.${NC}"
|
||||
echo "Please resolve the issues above and run verification again."
|
||||
echo ""
|
||||
|
||||
show_next_steps
|
||||
fi
|
||||
|
||||
echo -e "${CYAN}================================================================="
|
||||
echo " VERIFICATION COMPLETE"
|
||||
echo -e "=================================================================${NC}"
|
||||
}
|
||||
|
||||
# Run main function
|
||||
main "$@"
|
||||
Reference in New Issue
Block a user