# NAO6 ROS2 Integration Summary for HRIStudio

## Overview

This document summarizes the complete NAO6 ROS2 integration that has been implemented for HRIStudio, providing researchers with full access to NAO6 capabilities through the visual experiment designer and real-time wizard interface.

## What's Been Implemented

### 1. NAO6 ROS2 Plugin (`nao6-ros2.json`)

A comprehensive robot plugin that exposes all NAO6 capabilities through standard ROS2 topics:

**Location**: `robot-plugins/plugins/nao6-ros2.json`

**Key Features**:
- Full ROS2 integration via `naoqi_driver2`
- 10 robot actions across movement, interaction, and sensors
- Proper HRIStudio plugin schema compliance
- Safety limits and parameter validation
- Transform functions for message conversion

### 2. Robot Actions Available

#### Movement Actions
- **Walk with Velocity**: Control linear/angular walking velocities
- **Stop Walking**: Emergency stop for immediate movement cessation
- **Set Joint Angle**: Control individual joint positions (25 DOF)
- **Turn Head**: Dedicated head orientation control

#### Interaction Actions
- **Say Text**: Text-to-speech via ROS2 `/speech` topic

#### Sensor Actions
- **Get Camera Image**: Capture from front or bottom cameras
- **Get Joint States**: Read current joint positions and velocities
- **Get IMU Data**: Inertial measurement from torso sensor
- **Get Bumper Status**: Foot contact sensor readings
- **Get Touch Sensors**: Hand and head tactile sensor states
- **Get Sonar Range**: Ultrasonic distance measurements
- **Get Robot Info**: General robot status and information

### 3. ROS2 Topic Mapping

The plugin maps to these standard NAO6 ROS2 topics:

```
/cmd_vel              → Robot velocity commands (Twist)
/odom                 → Odometry data (Odometry)
/joint_states         → Joint positions/velocities (JointState)
/joint_angles         → NAO-specific joint control (JointAnglesWithSpeed)
/camera/front/image_raw    → Front camera stream (Image)
/camera/bottom/image_raw   → Bottom camera stream (Image)
/imu/torso            → Inertial measurement (Imu)
/speech               → Text-to-speech commands (String)
/bumper               → Foot bumper sensors (Bumper)
/hand_touch           → Hand touch sensors (HandTouch)
/head_touch           → Head touch sensors (HeadTouch)
/sonar/left           → Left ultrasonic sensor (Range)
/sonar/right          → Right ultrasonic sensor (Range)
/info                 → Robot information (RobotInfo)
```

### 4. Transform Functions (`nao6-transforms.ts`)

**Location**: `src/lib/nao6-transforms.ts`

Comprehensive message conversion functions:
- Parameter validation and safety limits
- ROS2 message format compliance
- Joint limit enforcement (25 DOF with proper ranges)
- Velocity clamping for safe operation
- Helper functions for UI integration

### 5. Setup Documentation (`nao6-ros2-setup.md`)

**Location**: `docs/nao6-ros2-setup.md`

Complete setup guide covering:
- ROS2 Humble installation on Ubuntu 22.04
- NAO6 network configuration
- naoqi_driver2 and rosbridge setup
- Custom launch file creation
- Testing and validation procedures
- HRIStudio plugin configuration
- Troubleshooting and safety guidelines

## Technical Architecture

### ROS2 Integration Stack

```
HRIStudio (Web Interface)
    ↓ WebSocket
rosbridge_server (Port 9090)
    ↓ ROS2 Topics/Services
naoqi_driver2
    ↓ NAOqi Protocol (Port 9559)
NAO6 Robot
```

### Message Flow

1. **Command Execution**:
   - HRIStudio wizard interface → WebSocket → rosbridge → ROS2 topic → naoqi_driver2 → NAO6

2. **Sensor Data**:
   - NAO6 → naoqi_driver2 → ROS2 topic → rosbridge → WebSocket → HRIStudio

3. **Real-time Feedback**:
   - Continuous sensor streams for live monitoring
   - Event logging for research data capture

## Safety Features

### Joint Limits Enforcement
- All 25 NAO6 joints have proper min/max limits defined
- Automatic clamping prevents damage from invalid commands
- Parameter validation before message transmission

### Velocity Limits
- Linear velocity: -0.55 to 0.55 m/s
- Angular velocity: -2.0 to 2.0 rad/s
- Automatic clamping for safe operation

### Emergency Stops
- Dedicated stop action for immediate movement cessation
- Timeout protection on all actions
- Connection monitoring and error handling

## Integration Status

### ✅ Completed Components

1. **Plugin Definition**: Full NAO6 plugin with proper schema
2. **Action Library**: 10 comprehensive robot actions
3. **Transform Functions**: Complete message conversion system
4. **Documentation**: Setup guide and integration instructions
5. **Safety Systems**: Joint limits, velocity clamping, emergency stops
6. **Repository Integration**: Plugin added to official repository

### 🔄 Usage Workflow

1. **Setup Phase**:
   - Install ROS2 Humble on companion computer
   - Configure NAO6 network connection
   - Launch naoqi_driver2 and rosbridge

2. **HRIStudio Configuration**:
   - Install NAO6 plugin in study
   - Configure ROS bridge URL
   - Design experiments using NAO6 actions

3. **Experiment Execution**:
   - Real-time robot control through wizard interface
   - Live sensor data monitoring
   - Comprehensive event logging

## Research Capabilities

### Experiment Design
- Visual programming with NAO6-specific actions
- Parameter configuration with safety validation
- Multi-modal data collection coordination

### Data Capture
- Synchronized robot commands and sensor data
- Video streams from dual cameras
- Inertial, tactile, and proximity sensor logs
- Speech synthesis and timing records

### Reproducibility
- Standardized action definitions
- Consistent parameter schemas
- Version-controlled plugin specifications
- Complete experiment protocol documentation

## Next Steps for Researchers

### Immediate Use
1. Follow setup guide in `docs/nao6-ros2-setup.md`
2. Install NAO6 plugin in HRIStudio study
3. Create experiments using available actions
4. Run trials with real-time robot control

### Advanced Integration
1. **Custom Actions**: Extend plugin with study-specific behaviors
2. **Multi-Robot**: Scale to multiple NAO6 robots
3. **Navigation**: Add SLAM and path planning capabilities
4. **Manipulation**: Implement object interaction behaviors

### Research Applications
- Human-robot interaction studies
- Social robotics experiments
- Gesture and speech coordination research
- Sensor fusion and behavior analysis
- Wizard-of-Oz methodology validation

## Support and Resources

### Documentation
- **Setup Guide**: `docs/nao6-ros2-setup.md`
- **Plugin Schema**: `robot-plugins/docs/schema.md`
- **ROS2 Integration**: `docs/ros2-integration.md`
- **Transform Functions**: `src/lib/nao6-transforms.ts`

### External Resources
- **NAO6 Documentation**: https://developer.softbankrobotics.com/nao6
- **naoqi_driver2**: https://github.com/ros-naoqi/naoqi_driver2
- **ROS2 Humble**: https://docs.ros.org/en/humble/
- **rosbridge**: http://wiki.ros.org/rosbridge_suite

### Technical Support
- **HRIStudio Issues**: GitHub repository
- **ROS2 Community**: ROS Discourse forum
- **NAO6 Support**: SoftBank Robotics developer portal

## Conclusion

The NAO6 ROS2 integration provides researchers with a complete, production-ready system for conducting Human-Robot Interaction studies. The integration leverages:

- **Standard ROS2 protocols** for reliable communication
- **Comprehensive safety systems** for secure operation
- **Visual experiment design** for accessible research tools
- **Real-time control interfaces** for dynamic experiment execution
- **Complete data capture** for rigorous analysis

This implementation enables researchers to focus on their studies rather than technical integration, while maintaining the flexibility and control needed for cutting-edge HRI research.

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**Status**: ✅ Production Ready  
**Last Updated**: December 2024  
**Compatibility**: HRIStudio v1.0+, ROS2 Humble, NAO6 with NAOqi 2.8.7+