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feat: Relocate experiment designer routes under studies, update ROS2 topic paths, and enhance designer hashing and performance.

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This commit is contained in:
Sean O'Connor
2025-11-19 18:05:19 -05:00
parent 86b5ed80c4
commit b21ed8e805
19 changed files with 647 additions and 288 deletions
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18
src/lib/nao6-transforms.ts
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@@ -70,7 +70,7 @@ export function getCameraImage(
): Record<string, unknown> {
const camera = params.camera as string;
const topic =
camera === "front" ? "/camera/front/image_raw" : "/camera/bottom/image_raw";
camera === "front" ? "/naoqi_driver/camera/front/image_raw" : "/naoqi_driver/camera/bottom/image_raw";
return {
subscribe: true,
@@ -88,7 +88,7 @@ export function getJointStates(
): Record<string, unknown> {
return {
subscribe: true,
topic: "/joint_states",
topic: "/naoqi_driver/joint_states",
messageType: "sensor_msgs/msg/JointState",
once: true,
};
@@ -102,7 +102,7 @@ export function getImuData(
): Record<string, unknown> {
return {
subscribe: true,
topic: "/imu/torso",
topic: "/naoqi_driver/imu/torso",
messageType: "sensor_msgs/msg/Imu",
once: true,
};
@@ -116,7 +116,7 @@ export function getBumperStatus(
): Record<string, unknown> {
return {
subscribe: true,
topic: "/bumper",
topic: "/naoqi_driver/bumper",
messageType: "naoqi_bridge_msgs/msg/Bumper",
once: true,
};
@@ -129,7 +129,7 @@ export function getTouchSensors(
params: Record<string, unknown>,
): Record<string, unknown> {
const sensorType = params.sensor_type as string;
const topic = sensorType === "hand" ? "/hand_touch" : "/head_touch";
const topic = sensorType === "hand" ? "/naoqi_driver/hand_touch" : "/naoqi_driver/head_touch";
const messageType =
sensorType === "hand"
? "naoqi_bridge_msgs/msg/HandTouch"
@@ -153,12 +153,12 @@ export function getSonarRange(
let topic: string;
if (sensor === "left") {
topic = "/sonar/left";
topic = "/naoqi_driver/sonar/left";
} else if (sensor === "right") {
topic = "/sonar/right";
topic = "/naoqi_driver/sonar/right";
} else {
// For "both", we'll default to left and let the wizard interface handle multiple calls
topic = "/sonar/left";
topic = "/naoqi_driver/sonar/left";
}
return {
@@ -177,7 +177,7 @@ export function getRobotInfo(
): Record<string, unknown> {
return {
subscribe: true,
topic: "/info",
topic: "/naoqi_driver/info",
messageType: "naoqi_bridge_msgs/msg/RobotInfo",
once: true,
};