Make wizard-ros-service robot-agnostic

- Remove NAO-specific hardcoded action handlers
- Remove helper methods (executeMovementAction, executeTurnHead, executeMoveArm)
- Keep only generic emergency_stop as builtin
- All robot-specific actions should be defined in plugin config

src/lib/ros/wizard-ros-service.ts

@@ -443,153 +443,14 @@ export class WizardRosService extends EventEmitter {
   }
 
   /**
-   * Execute built-in robot actions
+   * Execute built-in robot actions (robot-agnostic defaults)
+   * These are generic actions that work with standard ROS topics
    */
   private async executeBuiltinAction(
     actionId: string,
     parameters: Record<string, unknown>,
   ): Promise<void> {
     switch (actionId) {
-      case "say_text":
-        const text = String(parameters.text || "Hello");
-        this.publish("/speech", "std_msgs/String", {
-          data: text,
-        });
-        // Estimate speech duration (roughly 150ms per word + 500ms baseline)
-        const wordCount = text.split(/\s+/).length;
-        const estimatedDuration = Math.max(800, wordCount * 250 + 500);
-        await new Promise((resolve) => setTimeout(resolve, estimatedDuration));
-        break;
-
-      case "say_with_emotion":
-        const emotionText = String(parameters.text || "Hello");
-        const emotion = String(parameters.emotion || "neutral");
-        const speed = Number(parameters.speed || 1.0);
-        // NAOqi speech format: \rspd=speed \rst=emotion text
-        this.publish("/speech", "std_msgs/String", {
-          data: `\\rspd=${speed}\\\\rst=${emotion}\\${emotionText}`,
-        });
-        const emotionWordCount = emotionText.split(/\s+/).length;
-        const emotionDuration = Math.max(800, emotionWordCount * 250 + 500);
-        await new Promise((resolve) => setTimeout(resolve, emotionDuration));
-        break;
-
-      case "bow":
-        // Combo: head look down + lean forward + return
-        this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-          joint_names: ["HeadYaw", "HeadPitch"],
-          joint_angles: [0, 0.5],
-          speed: 0.3,
-        });
-        await new Promise((resolve) => setTimeout(resolve, 500));
-        this.publish("/cmd_vel", "geometry_msgs/Twist", {
-          linear: { x: 0.1, y: 0, z: 0 },
-          angular: { x: 0, y: 0, z: 0 },
-        });
-        await new Promise((resolve) => setTimeout(resolve, 800));
-        // Return to neutral
-        this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-          joint_names: ["HeadYaw", "HeadPitch"],
-          joint_angles: [0, 0],
-          speed: 0.3,
-        });
-        this.publish("/cmd_vel", "geometry_msgs/Twist", {
-          linear: { x: 0, y: 0, z: 0 },
-          angular: { x: 0, y: 0, z: 0 },
-        });
-        break;
-
-      case "wave":
-        // Combo: right arm wave gesture
-        this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-          joint_names: ["RShoulderPitch", "RShoulderRoll", "RElbowYaw", "RElbowRoll"],
-          joint_angles: [1.5, 0.2, -1.0, 0.5],
-          speed: 0.4,
-        });
-        await new Promise((resolve) => setTimeout(resolve, 600));
-        // Wave motion
-        for (let i = 0; i < 3; i++) {
-          this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-            joint_names: ["RElbowRoll"],
-            joint_angles: [0.2],
-            speed: 0.6,
-          });
-          await new Promise((resolve) => setTimeout(resolve, 200));
-          this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-            joint_names: ["RElbowRoll"],
-            joint_angles: [0.8],
-            speed: 0.6,
-          });
-          await new Promise((resolve) => setTimeout(resolve, 200));
-        }
-        break;
-
-      case "nod":
-        for (let i = 0; i < 2; i++) {
-          this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-            joint_names: ["HeadPitch"],
-            joint_angles: [0.3],
-            speed: 0.5,
-          });
-          await new Promise((resolve) => setTimeout(resolve, 300));
-          this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-            joint_names: ["HeadPitch"],
-            joint_angles: [-0.1],
-            speed: 0.5,
-          });
-          await new Promise((resolve) => setTimeout(resolve, 300));
-        }
-        break;
-
-      case "shake_head":
-        for (let i = 0; i < 2; i++) {
-          this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-            joint_names: ["HeadYaw"],
-            joint_angles: [0.4],
-            speed: 0.5,
-          });
-          await new Promise((resolve) => setTimeout(resolve, 250));
-          this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-            joint_names: ["HeadYaw"],
-            joint_angles: [-0.4],
-            speed: 0.5,
-          });
-          await new Promise((resolve) => setTimeout(resolve, 250));
-        }
-        break;
-
-      case "point":
-        // Point gesture with left arm
-        this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-          joint_names: ["LShoulderPitch", "LShoulderRoll", "LElbowYaw", "LElbowRoll", "LWristYaw"],
-          joint_angles: [0.8, 0.3, -1.0, 0.1, 0],
-          speed: 0.4,
-        });
-        await new Promise((resolve) => setTimeout(resolve, 1000));
-        break;
-
-      case "walk_forward":
-      case "walk_backward":
-      case "turn_left":
-      case "turn_right":
-      case "strafe_left":
-      case "strafe_right":
-        await this.executeMovementAction(actionId, parameters);
-        // Wait for movement to start (short baseline for better UI 'loading' feel)
-        await new Promise((resolve) => setTimeout(resolve, 800));
-        break;
-
-      case "move_head":
-      case "turn_head":
-        await this.executeTurnHead(parameters);
-        await new Promise((resolve) => setTimeout(resolve, 1500));
-        break;
-
-      case "move_arm":
-        await this.executeMoveArm(parameters);
-        await new Promise((resolve) => setTimeout(resolve, 2000));
-        break;
-
       case "emergency_stop":
         this.publish("/cmd_vel", "geometry_msgs/Twist", {
           linear: { x: 0, y: 0, z: 0 },
@@ -598,88 +459,10 @@ export class WizardRosService extends EventEmitter {
         break;
 
       default:
-        throw new Error(`Unknown action: ${actionId}`);
+        throw new Error(`Unknown action: ${actionId}. Define this action in your robot plugin.`);
     }
   }
 
-  /**
-   * Execute movement actions
-   */
-  private executeMovementAction(
-    actionId: string,
-    parameters: Record<string, unknown>,
-  ): void {
-    let linear = { x: 0, y: 0, z: 0 };
-    let angular = { x: 0, y: 0, z: 0 };
-
-    const speed = Number(parameters.speed) || 0.1;
-
-    switch (actionId) {
-      case "walk_forward":
-        linear.x = speed;
-        break;
-      case "walk_backward":
-        linear.x = -speed;
-        break;
-      case "turn_left":
-        angular.z = speed;
-        break;
-      case "turn_right":
-        angular.z = -speed;
-        break;
-      case "strafe_left":
-        linear.y = speed;
-        break;
-      case "strafe_right":
-        linear.y = -speed;
-        break;
-    }
-
-    this.publish("/cmd_vel", "geometry_msgs/Twist", {
-      linear,
-      angular,
-    });
-  }
-
-  /**
-   * Execute head turn action
-   */
-  private executeTurnHead(parameters: Record<string, unknown>): void {
-    const yaw = Number(parameters.yaw) || 0;
-    const pitch = Number(parameters.pitch) || 0;
-    const speed = Number(parameters.speed) || 0.3;
-
-    this.publish("/joint_angles", "naoqi_bridge_msgs/JointAnglesWithSpeed", {
-      joint_names: ["HeadYaw", "HeadPitch"],
-      joint_angles: [yaw, pitch],
-      speed: speed,
-    });
-  }
-
-  /**
-   * Execute arm movement
-   */
-  private executeMoveArm(parameters: Record<string, unknown>): void {
-    const arm = String(parameters.arm || "Right");
-    const roll = Number(parameters.roll) || 0;
-    const pitch = Number(parameters.pitch) || 0;
-    const speed = Number(parameters.speed) || 0.2;
-
-    const prefix = arm === "Left" ? "L" : "R";
-    const jointNames = [`${prefix}ShoulderPitch`, `${prefix}ShoulderRoll`];
-    const jointAngles = [pitch, roll];
-
-    this.publish(
-      "/joint_angles",
-      "naoqi_bridge_msgs/JointAnglesWithSpeed",
-      {
-        joint_names: jointNames,
-        joint_angles: jointAngles,
-        speed: speed,
-      },
-    );
-  }
-
   /**
    * Call a ROS service
    */