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nao6 ros2 integration updated

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This commit is contained in:
Sean O'Connor
2025-11-13 10:58:45 -05:00
parent 70882b9dbb
commit 86b5ed80c4
276 changed files with 4288 additions and 1552 deletions
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57
scripts/seed-dev.ts Normal file → Executable file
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@@ -306,17 +306,6 @@ async function main() {
syncStatus: "pending" as const,
createdBy: seanUser.id,
},
{
name: "NAO6 ROS2 Integration Repository",
url: "http://localhost:3000/nao6-plugins",
description:
"Official NAO6 robot plugins for ROS2-based Human-Robot Interaction experiments",
trustLevel: "official" as const,
isEnabled: true,
isOfficial: true,
syncStatus: "pending" as const,
createdBy: seanUser.id,
},
];
const insertedRepos = await db
@@ -428,24 +417,30 @@ async function main() {
);
}
// Install NAO plugin for first study if available
console.log("🤝 Installing NAO plugin (if available)...");
// Install NAO6 ROS2 plugin for first study if available
console.log("🤝 Installing NAO6 ROS2 plugin (if available)...");
const naoPlugin = await db
.select()
.from(schema.plugins)
.where(eq(schema.plugins.name, "NAO Humanoid Robot"))
.where(eq(schema.plugins.name, "NAO6 Robot (ROS2 Integration)"))
.limit(1);
if (naoPlugin.length > 0 && insertedStudies[0]) {
await db.insert(schema.studyPlugins).values({
studyId: insertedStudies[0].id,
pluginId: naoPlugin[0]!.id,
configuration: { voice: "nao-tts", locale: "en-US" },
configuration: {
robotIp: "nao.local",
websocketUrl: "ws://localhost:9090",
maxLinearVelocity: 0.3,
maxAngularVelocity: 1.0,
defaultSpeed: 0.5,
},
installedBy: seanUser.id,
});
console.log("✅ Installed NAO plugin in first study");
console.log("✅ Installed NAO6 ROS2 plugin in first study");
} else {
console.log(
"ℹ️ NAO plugin not found in repository sync; continuing without it",
"ℹ️ NAO6 ROS2 plugin not found in repository sync; continuing without it",
);
}
@@ -557,31 +552,31 @@ async function main() {
retryable: false,
});
// Resolve NAO plugin id/version for namespaced action type
// Resolve NAO6 ROS2 plugin id/version for namespaced action type
const naoDbPlugin1 = await db
.select({ id: schema.plugins.id, version: schema.plugins.version })
.from(schema.plugins)
.where(eq(schema.plugins.name, "NAO Humanoid Robot"))
.where(eq(schema.plugins.name, "NAO6 Robot (ROS2 Integration)"))
.limit(1);
const naoPluginRow1 = naoDbPlugin1[0];
// Action 1.2: Robot/NAO says text (or wizard says fallback)
// Action 1.2: Robot/NAO speaks text
await db.insert(schema.actions).values({
stepId: step1Id,
name: naoPluginRow1 ? "NAO Say Text" : "Wizard Say",
name: naoPluginRow1 ? "NAO Speak Text" : "Wizard Say",
description: naoPluginRow1
? "Make the robot speak using text-to-speech"
? "Make the robot speak using text-to-speech via ROS2"
: "Wizard speaks to participant",
type: naoPluginRow1 ? `${naoPluginRow1.id}.say_text` : "wizard_say",
type: naoPluginRow1 ? `${naoPluginRow1.id}.nao6_speak` : "wizard_say",
orderIndex: 1,
parameters: naoPluginRow1
? { text: "Hello, I am NAO. Let's begin!", speed: 110, volume: 0.75 }
? { text: "Hello, I am NAO. Let's begin!", volume: 0.8 }
: { message: "Hello! Let's begin the session.", tone: "friendly" },
sourceKind: naoPluginRow1 ? "plugin" : "core",
pluginId: naoPluginRow1 ? naoPluginRow1.id : null,
pluginVersion: naoPluginRow1 ? naoPluginRow1.version : null,
category: naoPluginRow1 ? "robot" : "wizard",
transport: naoPluginRow1 ? "rest" : "internal",
transport: naoPluginRow1 ? "ros2" : "internal",
retryable: false,
});
@@ -635,23 +630,23 @@ async function main() {
const naoDbPlugin2 = await db
.select({ id: schema.plugins.id, version: schema.plugins.version })
.from(schema.plugins)
.where(eq(schema.plugins.name, "NAO Humanoid Robot"))
.where(eq(schema.plugins.name, "NAO6 Robot (ROS2 Integration)"))
.limit(1);
const naoPluginRow2 = naoDbPlugin2[0];
if (naoPluginRow2) {
await db.insert(schema.actions).values({
stepId: step3Id,
name: "Set LED Color",
description: "Change NAO's eye LEDs to reflect state",
type: `${naoPluginRow2.id}.set_led_color`,
name: "NAO Move Head",
description: "Move NAO's head to look at participant",
type: `${naoPluginRow2.id}.nao6_move_head`,
orderIndex: 0,
parameters: { color: "blue", intensity: 0.6 },
parameters: { yaw: 0.0, pitch: -0.2, speed: 0.3 },
sourceKind: "plugin",
pluginId: naoPluginRow2.id,
pluginVersion: naoPluginRow2.version,
category: "robot",
transport: "rest",
transport: "ros2",
retryable: false,
});
} else {