mirror of
https://github.com/soconnor0919/hristudio.git
synced 2025-12-11 22:54:45 -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.
339 lines
9.8 KiB
JSON
339 lines
9.8 KiB
JSON
{
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"name": "NAO6 Speech & Audio",
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"version": "1.0.0",
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"description": "Text-to-speech and audio capabilities for NAO6 robot including voice synthesis, volume control, and language settings",
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"platform": "NAO6",
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"category": "speech",
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"manufacturer": {
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"name": "SoftBank Robotics",
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"website": "https://www.softbankrobotics.com"
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},
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"documentation": {
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"mainUrl": "https://docs.hristudio.com/robots/nao6/speech",
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"quickStart": "https://docs.hristudio.com/robots/nao6/speech/quickstart"
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},
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"ros2Config": {
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"namespace": "/naoqi_driver",
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"topics": {
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"speech": {
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"type": "std_msgs/String",
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"description": "Text-to-speech commands"
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},
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"set_language": {
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"type": "std_msgs/String",
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"description": "Set speech language"
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},
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"audio_volume": {
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"type": "std_msgs/Float32",
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"description": "Control audio volume level"
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}
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}
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},
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"actions": [
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{
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"id": "say_text",
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"name": "Say Text",
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"description": "Make the robot speak the specified text using text-to-speech",
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"category": "speech",
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"parameters": [
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{
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"name": "text",
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"type": "text",
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"description": "Text for the robot to speak",
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"required": true,
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"maxLength": 500,
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"placeholder": "Enter text for NAO to say..."
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},
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{
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"name": "wait_for_completion",
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"type": "boolean",
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"description": "Wait for speech to finish before continuing",
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"required": false,
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"default": true
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}
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],
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"implementation": {
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"topic": "/naoqi_driver/speech",
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"messageType": "std_msgs/String",
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"messageTemplate": {
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"data": "{{text}}"
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}
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}
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},
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{
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"id": "say_with_emotion",
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"name": "Say Text with Emotion",
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"description": "Speak text with emotional expression using SSML-like markup",
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"category": "speech",
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"parameters": [
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{
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"name": "text",
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"type": "text",
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"description": "Text for the robot to speak",
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"required": true,
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"maxLength": 500,
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"placeholder": "Enter text for NAO to say..."
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},
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{
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"name": "emotion",
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"type": "select",
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"description": "Emotional tone for speech",
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"required": false,
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"options": [
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{ "value": "neutral", "label": "Neutral" },
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{ "value": "happy", "label": "Happy" },
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{ "value": "sad", "label": "Sad" },
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{ "value": "excited", "label": "Excited" },
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{ "value": "calm", "label": "Calm" }
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],
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"default": "neutral"
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},
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{
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"name": "speed",
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"type": "number",
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"description": "Speech speed multiplier",
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"required": false,
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"min": 0.5,
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"max": 2.0,
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"default": 1.0,
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"step": 0.1
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}
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],
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"implementation": {
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"topic": "/naoqi_driver/speech",
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"messageType": "std_msgs/String",
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"messageTemplate": {
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"data": "\\rspd={{speed}}\\\\rst={{emotion}}\\{{text}}"
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}
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}
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},
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{
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"id": "set_volume",
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"name": "Set Volume",
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"description": "Adjust the robot's audio volume level",
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"category": "speech",
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"parameters": [
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{
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"name": "volume",
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"type": "number",
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"description": "Volume level (0.0 = silent, 1.0 = maximum)",
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"required": true,
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"min": 0.0,
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"max": 1.0,
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"default": 0.5,
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"step": 0.1
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}
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],
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"implementation": {
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"topic": "/naoqi_driver/audio_volume",
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"messageType": "std_msgs/Float32",
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"messageTemplate": {
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"data": "{{volume}}"
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}
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}
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},
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{
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"id": "set_language",
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"name": "Set Language",
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"description": "Change the robot's speech language",
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"category": "speech",
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"parameters": [
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{
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"name": "language",
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"type": "select",
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"description": "Speech language",
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"required": true,
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"options": [
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{ "value": "en-US", "label": "English (US)" },
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{ "value": "en-GB", "label": "English (UK)" },
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{ "value": "fr-FR", "label": "French" },
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{ "value": "de-DE", "label": "German" },
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{ "value": "es-ES", "label": "Spanish" },
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{ "value": "it-IT", "label": "Italian" },
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{ "value": "ja-JP", "label": "Japanese" },
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{ "value": "ko-KR", "label": "Korean" },
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{ "value": "zh-CN", "label": "Chinese (Simplified)" }
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],
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"default": "en-US"
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}
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],
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"implementation": {
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"topic": "/naoqi_driver/set_language",
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"messageType": "std_msgs/String",
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"messageTemplate": {
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"data": "{{language}}"
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}
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}
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},
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{
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"id": "say_random_phrase",
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"name": "Say Random Phrase",
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"description": "Make the robot say a random phrase from predefined categories",
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"category": "speech",
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"parameters": [
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{
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"name": "category",
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"type": "select",
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"description": "Category of phrases",
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"required": true,
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"options": [
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{ "value": "greeting", "label": "Greetings" },
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{ "value": "encouragement", "label": "Encouragement" },
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{ "value": "question", "label": "Questions" },
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{ "value": "farewell", "label": "Farewells" },
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{ "value": "instruction", "label": "Instructions" }
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],
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"default": "greeting"
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}
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],
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"implementation": {
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"topic": "/naoqi_driver/speech",
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"messageType": "std_msgs/String",
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"messageTemplate": {
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"data": "{{getRandomPhrase(category)}}"
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}
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},
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"phrases": {
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"greeting": [
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"Hello! Nice to meet you!",
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"Hi there! How are you today?",
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"Welcome! I'm excited to work with you.",
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"Good day! Ready to get started?",
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"Greetings! What shall we do today?"
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],
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"encouragement": [
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"Great job! Keep it up!",
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"You're doing wonderfully!",
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"Excellent work! I'm impressed.",
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"That's fantastic! Well done!",
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"Perfect! You've got this!"
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],
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"question": [
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"How can I help you today?",
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"What would you like to do next?",
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"Is there anything you'd like to know?",
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"Shall we try something different?",
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"What are you thinking about?"
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],
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"farewell": [
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"Goodbye! It was great working with you!",
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"See you later! Take care!",
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"Until next time! Have a wonderful day!",
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"Farewell! Thanks for spending time with me!",
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"Bye for now! Look forward to seeing you again!"
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],
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"instruction": [
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"Please follow my movements.",
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"Let's try this step by step.",
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"Watch carefully and then repeat.",
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"Take your time, there's no rush.",
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"Remember to stay focused."
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]
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}
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},
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{
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"id": "spell_word",
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"name": "Spell Word",
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"description": "Have the robot spell out a word letter by letter",
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"category": "speech",
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"parameters": [
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{
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"name": "word",
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"type": "text",
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"description": "Word to spell out",
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"required": true,
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"maxLength": 50,
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"placeholder": "Enter word to spell..."
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},
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{
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"name": "pause_duration",
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"type": "number",
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"description": "Pause between letters in seconds",
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"required": false,
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"min": 0.1,
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"max": 2.0,
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"default": 0.5,
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"step": 0.1
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}
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],
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"implementation": {
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"topic": "/naoqi_driver/speech",
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"messageType": "std_msgs/String",
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"messageTemplate": {
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"data": "{{word.split('').join('\\pau={{pause_duration * 1000}}\\\\pau=0\\')}}"
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}
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}
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},
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{
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"id": "count_numbers",
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"name": "Count Numbers",
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"description": "Have the robot count from one number to another",
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"category": "speech",
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"parameters": [
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{
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"name": "start",
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"type": "number",
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"description": "Starting number",
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"required": true,
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"min": 0,
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"max": 100,
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"default": 1,
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"step": 1
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},
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{
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"name": "end",
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"type": "number",
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"description": "Ending number",
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"required": true,
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"min": 0,
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"max": 100,
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"default": 10,
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"step": 1
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},
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{
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"name": "pause_duration",
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"type": "number",
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"description": "Pause between numbers in seconds",
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"required": false,
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"min": 0.1,
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"max": 2.0,
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"default": 0.8,
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"step": 0.1
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}
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],
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"implementation": {
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"topic": "/naoqi_driver/speech",
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"messageType": "std_msgs/String",
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"messageTemplate": {
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"data": "{{Array.from({length: end - start + 1}, (_, i) => start + i).join('\\pau={{pause_duration * 1000}}\\\\pau=0\\')}}"
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}
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}
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}
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],
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"features": {
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"languages": [
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"en-US", "en-GB", "fr-FR", "de-DE", "es-ES",
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"it-IT", "ja-JP", "ko-KR", "zh-CN"
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],
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"emotions": [
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"neutral", "happy", "sad", "excited", "calm"
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],
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"voiceEffects": [
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"speed", "pitch", "volume", "emotion"
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],
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"ssmlSupport": true,
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"maxTextLength": 500
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},
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"safety": {
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"maxVolume": 1.0,
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"defaultVolume": 0.5,
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"profanityFilter": true,
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"maxSpeechDuration": 60,
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"emergencyQuiet": {
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"action": "set_volume",
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"parameters": { "volume": 0 },
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"description": "Immediately mute robot audio"
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}
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}
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}
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