mirror of
https://github.com/soconnor0919/hristudio.git
synced 2025-12-11 06:34:44 -05:00
Sean O'Connor
c206f86047
🤖 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.
45 lines
1.0 KiB
JSON
45 lines
1.0 KiB
JSON
{
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"name": "NAO6 ROS2 Integration Repository",
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"description": "Official NAO6 robot plugins for ROS2-based Human-Robot Interaction experiments",
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"version": "1.0.0",
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"author": {
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"name": "HRIStudio Team",
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"email": "support@hristudio.com"
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},
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"urls": {
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"git": "https://github.com/hristudio/nao6-ros2-plugins",
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"documentation": "https://docs.hristudio.com/robots/nao6",
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"issues": "https://github.com/hristudio/nao6-ros2-plugins/issues"
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},
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"trust": "official",
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"license": "MIT",
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"robots": [
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{
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"name": "NAO6",
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"manufacturer": "SoftBank Robotics",
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"model": "NAO V6",
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"communicationProtocol": "ros2"
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}
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],
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"categories": [
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"movement",
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"speech",
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"sensors",
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"interaction",
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"vision"
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],
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"ros2": {
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"distro": "humble",
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"packages": [
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"naoqi_driver2",
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"naoqi_bridge_msgs",
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"rosbridge_suite"
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],
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"bridge": {
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"protocol": "websocket",
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"defaultPort": 9090
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}
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},
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"lastUpdated": "2025-01-16T00:00:00Z"
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}
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