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feat: Complete NAO6 ROS2 integration for HRIStudio

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🤖 Full NAO6 Robot Integration with ROS2 and WebSocket Control

## New Features
- **NAO6 Test Interface**: Real-time robot control via web browser at /nao-test
- **ROS2 Integration**: Complete naoqi_driver2 + rosbridge setup with launch files
- **WebSocket Control**: Direct robot control through HRIStudio web interface
- **Plugin System**: NAO6 robot plugins for movement, speech, and sensors
- **Database Integration**: Updated seed data with NAO6 robot and plugin definitions

## Key Components Added
- **Web Interface**: src/app/(dashboard)/nao-test/page.tsx - Complete robot control dashboard
- **Plugin Repository**: public/nao6-plugins/ - Local NAO6 plugin definitions
- **Database Updates**: Updated robots table with ROS2 protocol and enhanced capabilities
- **Comprehensive Documentation**: Complete setup, troubleshooting, and quick reference guides

## Documentation
- **Complete Integration Guide**: docs/nao6-integration-complete-guide.md (630 lines)
- **Quick Reference**: docs/nao6-quick-reference.md - Essential commands and troubleshooting
- **Updated Setup Guide**: Enhanced docs/nao6-ros2-setup.md with critical notes
- **Updated Main Docs**: docs/README.md with robot integration section

## Robot Capabilities
- ✅ **Speech Control**: Text-to-speech with emotion and language support
- ✅ **Movement Control**: Walking, turning, stopping with configurable speeds
- ✅ **Head Control**: Precise yaw/pitch positioning with sliders
- ✅ **Sensor Monitoring**: Joint states, touch sensors, sonar, cameras, IMU
- ✅ **Safety Features**: Emergency stop, movement limits, real-time monitoring
- ✅ **Real-time Data**: Live sensor data streaming through WebSocket

## Critical Discovery
**Robot Wake-Up Requirement**: NAO robots start in safe mode with loose joints and must be explicitly awakened via SSH before movement commands work. This is now documented with automated solutions.

## Technical Implementation
- **ROS2 Humble**: Complete naoqi_driver2 integration with rosbridge WebSocket server
- **Topic Mapping**: Correct namespace handling for control vs. sensor topics
- **Plugin Architecture**: Extensible NAO6 action definitions with parameter validation
- **Database Schema**: Enhanced robots table with comprehensive NAO6 capabilities
- **Import Consistency**: Fixed React import aliases to use ~ consistently

## Testing & Verification
- ✅ Tested with NAO V6.0 / NAOqi 2.8.7.4 / ROS2 Humble
- ✅ Complete end-to-end testing from web interface to robot movement
- ✅ Comprehensive troubleshooting procedures documented
- ✅ Production-ready launch scripts and deployment guides

## Production Ready
This integration is fully tested and production-ready for Human-Robot Interaction research with complete documentation, safety guidelines, and troubleshooting procedures.
This commit is contained in:
Sean O'Connor
2025-10-16 17:37:52 -04:00
parent 816b2b9e31
commit c206f86047
11 changed files with 2703 additions and 8 deletions
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public/nao6-plugins/plugins/nao6-sensors.json Normal file
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{
"name": "NAO6 Sensors & Feedback",
"version": "1.0.0",
"description": "Complete sensor suite for NAO6 robot including touch sensors, sonar, IMU, cameras, and joint state monitoring",
"platform": "NAO6",
"category": "sensors",
"manufacturer": {
"name": "SoftBank Robotics",
"website": "https://www.softbankrobotics.com"
},
"documentation": {
"mainUrl": "https://docs.hristudio.com/robots/nao6/sensors",
"quickStart": "https://docs.hristudio.com/robots/nao6/sensors/quickstart"
},
"ros2Config": {
"namespace": "/naoqi_driver",
"topics": {
"joint_states": {
"type": "sensor_msgs/JointState",
"description": "Current positions, velocities, and efforts of all joints"
},
"imu": {
"type": "sensor_msgs/Imu",
"description": "Inertial measurement unit data (acceleration, angular velocity, orientation)"
},
"bumper": {
"type": "naoqi_bridge_msgs/Bumper",
"description": "Foot bumper sensor states"
},
"hand_touch": {
"type": "naoqi_bridge_msgs/HandTouch",
"description": "Hand tactile sensor states"
},
"head_touch": {
"type": "naoqi_bridge_msgs/HeadTouch",
"description": "Head tactile sensor states"
},
"sonar/left": {
"type": "sensor_msgs/Range",
"description": "Left ultrasonic range sensor"
},
"sonar/right": {
"type": "sensor_msgs/Range",
"description": "Right ultrasonic range sensor"
},
"camera/front/image_raw": {
"type": "sensor_msgs/Image",
"description": "Front camera image feed"
},
"camera/bottom/image_raw": {
"type": "sensor_msgs/Image",
"description": "Bottom camera image feed"
},
"battery": {
"type": "sensor_msgs/BatteryState",
"description": "Battery level and charging status"
}
}
},
"actions": [
{
"id": "get_joint_states",
"name": "Get Joint States",
"description": "Read current positions and velocities of all robot joints",
"category": "sensors",
"parameters": [
{
"name": "specific_joints",
"type": "multiselect",
"description": "Specific joints to monitor (empty = all joints)",
"required": false,
"options": [
{ "value": "HeadYaw", "label": "Head Yaw" },
{ "value": "HeadPitch", "label": "Head Pitch" },
{ "value": "LShoulderPitch", "label": "Left Shoulder Pitch" },
{ "value": "LShoulderRoll", "label": "Left Shoulder Roll" },
{ "value": "LElbowYaw", "label": "Left Elbow Yaw" },
{ "value": "LElbowRoll", "label": "Left Elbow Roll" },
{ "value": "RShoulderPitch", "label": "Right Shoulder Pitch" },
{ "value": "RShoulderRoll", "label": "Right Shoulder Roll" },
{ "value": "RElbowYaw", "label": "Right Elbow Yaw" },
{ "value": "RElbowRoll", "label": "Right Elbow Roll" }
]
}
],
"implementation": {
"topic": "/naoqi_driver/joint_states",
"messageType": "sensor_msgs/JointState",
"mode": "subscribe"
}
},
{
"id": "get_touch_sensors",
"name": "Get Touch Sensors",
"description": "Monitor all tactile sensors on head and hands",
"category": "sensors",
"parameters": [
{
"name": "sensor_type",
"type": "select",
"description": "Type of touch sensors to monitor",
"required": false,
"options": [
{ "value": "all", "label": "All Touch Sensors" },
{ "value": "head", "label": "Head Touch Only" },
{ "value": "hands", "label": "Hand Touch Only" }
],
"default": "all"
}
],
"implementation": {
"topics": [
"/naoqi_driver/head_touch",
"/naoqi_driver/hand_touch"
],
"messageTypes": [
"naoqi_bridge_msgs/HeadTouch",
"naoqi_bridge_msgs/HandTouch"
],
"mode": "subscribe"
}
},
{
"id": "get_sonar_distance",
"name": "Get Sonar Distance",
"description": "Read ultrasonic distance sensors for obstacle detection",
"category": "sensors",
"parameters": [
{
"name": "sensor_side",
"type": "select",
"description": "Which sonar sensor to read",
"required": false,
"options": [
{ "value": "both", "label": "Both Sensors" },
{ "value": "left", "label": "Left Sensor Only" },
{ "value": "right", "label": "Right Sensor Only" }
],
"default": "both"
},
{
"name": "min_range",
"type": "number",
"description": "Minimum detection range in meters",
"required": false,
"min": 0.1,
"max": 1.0,
"default": 0.25,
"step": 0.05
},
{
"name": "max_range",
"type": "number",
"description": "Maximum detection range in meters",
"required": false,
"min": 1.0,
"max": 3.0,
"default": 2.55,
"step": 0.05
}
],
"implementation": {
"topics": [
"/naoqi_driver/sonar/left",
"/naoqi_driver/sonar/right"
],
"messageType": "sensor_msgs/Range",
"mode": "subscribe"
}
},
{
"id": "get_imu_data",
"name": "Get IMU Data",
"description": "Read inertial measurement unit data (acceleration, gyroscope, orientation)",
"category": "sensors",
"parameters": [
{
"name": "data_type",
"type": "select",
"description": "Type of IMU data to monitor",
"required": false,
"options": [
{ "value": "all", "label": "All IMU Data" },
{ "value": "orientation", "label": "Orientation Only" },
{ "value": "acceleration", "label": "Linear Acceleration" },
{ "value": "angular_velocity", "label": "Angular Velocity" }
],
"default": "all"
}
],
"implementation": {
"topic": "/naoqi_driver/imu",
"messageType": "sensor_msgs/Imu",
"mode": "subscribe"
}
},
{
"id": "get_camera_image",
"name": "Get Camera Image",
"description": "Capture image from robot's cameras",
"category": "sensors",
"parameters": [
{
"name": "camera",
"type": "select",
"description": "Which camera to use",
"required": true,
"options": [
{ "value": "front", "label": "Front Camera" },
{ "value": "bottom", "label": "Bottom Camera" }
],
"default": "front"
},
{
"name": "resolution",
"type": "select",
"description": "Image resolution",
"required": false,
"options": [
{ "value": "160x120", "label": "QQVGA (160x120)" },
{ "value": "320x240", "label": "QVGA (320x240)" },
{ "value": "640x480", "label": "VGA (640x480)" }
],
"default": "320x240"
},
{
"name": "fps",
"type": "number",
"description": "Frames per second",
"required": false,
"min": 1,
"max": 30,
"default": 15,
"step": 1
}
],
"implementation": {
"topic": "/naoqi_driver/camera/{{camera}}/image_raw",
"messageType": "sensor_msgs/Image",
"mode": "subscribe"
}
},
{
"id": "get_battery_status",
"name": "Get Battery Status",
"description": "Monitor robot battery level and charging status",
"category": "sensors",
"parameters": [],
"implementation": {
"topic": "/naoqi_driver/battery",
"messageType": "sensor_msgs/BatteryState",
"mode": "subscribe"
}
},
{
"id": "detect_obstacle",
"name": "Detect Obstacle",
"description": "Check for obstacles using sonar sensors with customizable thresholds",
"category": "sensors",
"parameters": [
{
"name": "detection_distance",
"type": "number",
"description": "Distance threshold for obstacle detection (meters)",
"required": true,
"min": 0.1,
"max": 2.0,
"default": 0.5,
"step": 0.1
},
{
"name": "sensor_side",
"type": "select",
"description": "Which sensors to use for detection",
"required": false,
"options": [
{ "value": "both", "label": "Both Sensors" },
{ "value": "left", "label": "Left Sensor Only" },
{ "value": "right", "label": "Right Sensor Only" }
],
"default": "both"
}
],
"implementation": {
"topics": [
"/naoqi_driver/sonar/left",
"/naoqi_driver/sonar/right"
],
"messageType": "sensor_msgs/Range",
"mode": "subscribe",
"processing": "obstacle_detection"
}
},
{
"id": "monitor_fall_detection",
"name": "Monitor Fall Detection",
"description": "Monitor robot stability using IMU data to detect potential falls",
"category": "sensors",
"parameters": [
{
"name": "tilt_threshold",
"type": "number",
"description": "Maximum tilt angle before fall alert (degrees)",
"required": false,
"min": 10,
"max": 45,
"default": 25,
"step": 5
},
{
"name": "acceleration_threshold",
"type": "number",
"description": "Acceleration threshold for impact detection (m/s²)",
"required": false,
"min": 5,
"max": 20,
"default": 10,
"step": 1
}
],
"implementation": {
"topic": "/naoqi_driver/imu",
"messageType": "sensor_msgs/Imu",
"mode": "subscribe",
"processing": "fall_detection"
}
},
{
"id": "wait_for_touch",
"name": "Wait for Touch",
"description": "Wait for user to touch a specific sensor before continuing",
"category": "sensors",
"parameters": [
{
"name": "sensor_location",
"type": "select",
"description": "Which sensor to wait for",
"required": true,
"options": [
{ "value": "head_front", "label": "Head Front" },
{ "value": "head_middle", "label": "Head Middle" },
{ "value": "head_rear", "label": "Head Rear" },
{ "value": "left_hand", "label": "Left Hand" },
{ "value": "right_hand", "label": "Right Hand" },
{ "value": "any_head", "label": "Any Head Sensor" },
{ "value": "any_hand", "label": "Any Hand Sensor" },
{ "value": "any_touch", "label": "Any Touch Sensor" }
],
"default": "head_front"
},
{
"name": "timeout",
"type": "number",
"description": "Maximum time to wait for touch (seconds, 0 = infinite)",
"required": false,
"min": 0,
"max": 300,
"default": 30,
"step": 5
}
],
"implementation": {
"topics": [
"/naoqi_driver/head_touch",
"/naoqi_driver/hand_touch"
],
"messageTypes": [
"naoqi_bridge_msgs/HeadTouch",
"naoqi_bridge_msgs/HandTouch"
],
"mode": "wait_for_condition",
"condition": "touch_detected"
}
}
],
"sensorSpecifications": {
"touchSensors": {
"head": {
"locations": ["front", "middle", "rear"],
"sensitivity": "capacitive",
"responseTime": "< 50ms"
},
"hands": {
"locations": ["left", "right"],
"sensitivity": "capacitive",
"responseTime": "< 50ms"
}
},
"sonarSensors": {
"count": 2,
"locations": ["left", "right"],
"minRange": "0.25m",
"maxRange": "2.55m",
"fieldOfView": "60°",
"frequency": "40kHz"
},
"cameras": {
"front": {
"resolution": "640x480",
"maxFps": 30,
"fieldOfView": "60.9° x 47.6°"
},
"bottom": {
"resolution": "640x480",
"maxFps": 30,
"fieldOfView": "60.9° x 47.6°"
}
},
"imu": {
"accelerometer": {
"range": "±2g",
"sensitivity": "high"
},
"gyroscope": {
"range": "±500°/s",
"sensitivity": "high"
},
"magnetometer": {
"available": false
}
},
"joints": {
"count": 25,
"encoderResolution": "12-bit",
"positionAccuracy": "±0.1°"
}
},
"dataTypes": {
"jointState": {
"position": "radians",
"velocity": "radians/second",
"effort": "arbitrary units"
},
"imu": {
"orientation": "quaternion",
"angularVelocity": "radians/second",
"linearAcceleration": "m/s²"
},
"range": {
"distance": "meters",
"minRange": "meters",
"maxRange": "meters"
},
"image": {
"encoding": "rgb8",
"width": "pixels",
"height": "pixels"
}
},
"safety": {
"fallDetection": {
"enabled": true,
"defaultThreshold": "25°"
},
"obstacleDetection": {
"enabled": true,
"safeDistance": "0.3m"
},
"batteryMonitoring": {
"lowBatteryWarning": "20%",
"criticalBatteryShutdown": "5%"
}
}
}