- Create standalone WebSocket server (ws-server.ts) on port 3001 using Bun
- Add ws_connections table to track active connections in database
- Create global WebSocket manager that persists across component unmounts
- Fix useWebSocket hook to prevent infinite re-renders and use refs
- Fix TrialForm Select components with proper default values
- Add trialId to WebSocket URL for server-side tracking
- Update package.json with dev:ws script for separate WS server
- Install better-auth and @better-auth/drizzle-adapter
- Create src/lib/auth.ts with Better Auth configuration using bcrypt
- Update database schema: change auth table IDs from uuid to text
- Update route handler from /api/auth/[...nextauth] to /api/auth/[...all]
- Update tRPC context and middleware for Better Auth session handling
- Update client components to use Better Auth APIs (signIn, signOut)
- Update seed script with text-based IDs and correct account schema
- Fix type errors in wizard components (robotId, optional chaining)
- Fix API paths: api.robots.initialize -> api.robots.plugins.initialize
- Update auth router to use text IDs for Better Auth compatibility
Note: Auth tables were reset - users will need to re-register.
The issue was that onClick={onNextStep} passes the click event as the first argument,
making targetIndex an object instead of undefined. This caused handleNextStep to fall
through to linear progression instead of properly checking branching logic.
Fixed by wrapping with arrow function: onClick={() => onNextStep()}
- Added 'identifier' column (unique) for machine-readable plugin ID
- 'name' now used for display name only
- Updated trial-execution to look up by identifier first, then name
- Added migration script for existing databases
- Re-add say_text, walk_forward, walk_backward, turn_left, turn_right, move_head, turn_head as builtins
- These use standard ROS topics (/speech, /cmd_vel, /joint_angles) that work with most robots
- Plugin-specific actions should still be defined in plugin config
- 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
- Fix handleNextStep to handle both string and object options in conditions
- Add say_with_emotion, bow, wave, nod, shake_head, point combo actions
- Update seed data with nextStepId in wizard_wait_for_response options
Added comment to clarify that connection state updates happen via
event handlers. Auto-connect now properly handles failures without
retrying automatically, allowing users to manually connect if needed.
The naoqi_bridge_msgs/BatteryState message type doesn't exist in the
NAO6 ROS2 package, causing subscription errors. Removed the battery
topic subscription for now. Battery info can be obtained through
diagnostics or other means if needed in the future.
- Removed non-functional trial WebSocket (no server exists)
- Kept ROS WebSocket for robot control via useWizardRos
- Fixed duplicate ROS connections by passing connection as props
- WizardMonitoringPanel now receives ROS connection from parent
- Trial status uses reliable tRPC polling (5-15s intervals)
- Updated connection badges to show 'ROS Connected/Offline'
- Added loading overlay with fade-in to designer
- Fixed hash computation to include parameter values
- Fixed incremental hash caching for parameter changes
Fixes:
- WebSocket connection errors eliminated
- Connect button now works properly
- No more conflicting duplicate connections
- Accurate connection status display
MAJOR INTEGRATION COMPLETE:
🤖 Robot Communication System:
- RobotCommunicationService for WebSocket ROS bridge integration
- Template-based message generation from plugin definitions
- Real-time action execution with error handling and reconnection
🔧 Trial Execution Engine:
- Updated TrialExecutionEngine to execute real robot actions
- Plugin-based action discovery and parameter validation
- Complete event logging for robot actions during trials
🎮 Wizard Interface Integration:
- RobotActionsPanel component for live robot control
- Plugin-based action discovery with categorized interface
- Real-time parameter forms auto-generated from schemas
- Emergency controls and safety features
📊 Database Integration:
- Enhanced plugin system with NAO6 definitions
- Robot action logging to trial events
- Study-scoped plugin installations
🔌 API Enhancement:
- executeRobotAction endpoint in trials router
- Parameter validation against plugin schemas
- Complete error handling and success tracking
✅ Production Ready Features:
- Parameter validation prevents invalid commands
- Emergency stop controls in wizard interface
- Connection management with auto-reconnect
- Complete audit trail of robot actions
TESTING READY:
- Seed script creates NAO6 experiment with robot actions
- Complete wizard interface for manual robot control
- Works with or without physical robot hardware
Ready for HRI research with live NAO6 robots!
🤖 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.
- Remove global experiments and plugins routes; redirect to study-scoped
pages
- Update sidebar navigation to separate platform-level and study-level
items
- Add study filter to dashboard and stats queries
- Refactor participants, trials, analytics pages to use new header and
breadcrumbs
- Update documentation for new route architecture and migration guide
- Remove duplicate experiment creation route
- Upgrade Next.js to 15.5.4 in package.json and bun.lock
Removed global participants, trials, and analytics routes. All entity
management now flows through study-specific routes. Updated navigation,
breadcrumbs, and forms. Added helpful redirect pages for moved routes.
Eliminated duplicate table components and unified navigation patterns.
Fixed dashboard route structure and layout inheritance.
