hristudio/docs/nao6-ros2-setup.md

NAO6 ROS2 Setup Guide for HRIStudio

This guide walks you through setting up your NAO6 robot with ROS2 integration for use with HRIStudio's experiment platform.

Prerequisites

• NAO6 robot with NAOqi OS 2.8.7+
• Ubuntu 22.04.5 LTS computer (x86_64)
• Network connectivity between computer and NAO6
• Administrative access to both systems

Overview

The integration uses the naoqi_driver2 package to bridge NAOqi with ROS2, exposing all robot capabilities through standard ROS2 topics and services. HRIStudio connects via WebSocket using rosbridge_server.

Step 1: NAO6 Network Configuration

1. Power on your NAO6 and wait for boot completion
2. Connect NAO6 to your network:
   • Press chest button to get IP address
   • Or use Choregraphe to configure WiFi
3. Verify connectivity:

   ping nao.local  # or robot IP address
   

Step 2: ROS2 Humble Installation

Install ROS2 Humble on your Ubuntu 22.04 system:

# Update system
sudo apt update && sudo apt upgrade -y

# Install ROS2 Humble
sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

sudo apt update
sudo apt install ros-humble-desktop
sudo apt install ros-dev-tools

# Source ROS2
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

Step 3: Install NAO ROS2 Packages

Install the required ROS2 packages for NAO6 integration:

# Install naoqi_driver2 and dependencies
sudo apt install ros-humble-naoqi-driver2
sudo apt install ros-humble-naoqi-bridge-msgs
sudo apt install ros-humble-geometry-msgs
sudo apt install ros-humble-sensor-msgs
sudo apt install ros-humble-nav-msgs
sudo apt install ros-humble-std-msgs

# Install rosbridge for HRIStudio communication
sudo apt install ros-humble-rosbridge-suite

# Install additional useful packages
sudo apt install ros-humble-rqt
sudo apt install ros-humble-rqt-common-plugins

Step 4: Configure NAO Connection

Create a launch file for easy NAO6 connection:

# Create workspace
mkdir -p ~/nao_ws/src
cd ~/nao_ws

# Create launch file directory
mkdir -p src/nao_launch/launch

# Create the launch file
cat > src/nao_launch/launch/nao6_hristudio.launch.py << 'EOF'
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory
import os

def generate_launch_description():
    return LaunchDescription([
        # NAO IP configuration
        DeclareLaunchArgument('nao_ip', default_value='nao.local'),
        DeclareLaunchArgument('nao_port', default_value='9559'),
        DeclareLaunchArgument('bridge_port', default_value='9090'),
        
        # NAOqi Driver
        Node(
            package='naoqi_driver2',
            executable='naoqi_driver',
            name='naoqi_driver',
            parameters=[{
                'nao_ip': LaunchConfiguration('nao_ip'),
                'nao_port': LaunchConfiguration('nao_port'),
                'publish_joint_states': True,
                'publish_odometry': True,
                'publish_camera': True,
                'publish_sensors': True,
                'joint_states_frequency': 30.0,
                'odom_frequency': 30.0,
                'camera_frequency': 15.0,
                'sensor_frequency': 10.0
            }],
            output='screen'
        ),
        
        # Rosbridge WebSocket Server
        Node(
            package='rosbridge_server',
            executable='rosbridge_websocket',
            name='rosbridge_websocket',
            parameters=[{
                'port': LaunchConfiguration('bridge_port'),
                'address': '0.0.0.0',
                'authenticate': False,
                'fragment_timeout': 600,
                'delay_between_messages': 0,
                'max_message_size': 10000000
            }],
            output='screen'
        )
    ])
EOF

# Create package.xml
cat > src/nao_launch/package.xml << 'EOF'
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypeid="pf3"?>
<package format="3">
  <name>nao_launch</name>
  <version>1.0.0</version>
  <description>Launch files for NAO6 HRIStudio integration</description>
  <maintainer email="you@example.com">Your Name</maintainer>
  <license>MIT</license>
  
  <buildtool_depend>ament_cmake</buildtool_depend>
  <exec_depend>launch</exec_depend>
  <exec_depend>launch_ros</exec_depend>
  <exec_depend>naoqi_driver2</exec_depend>
  <exec_depend>rosbridge_server</exec_depend>
</package>
EOF

# Create CMakeLists.txt
cat > src/nao_launch/CMakeLists.txt << 'EOF'
cmake_minimum_required(VERSION 3.8)
project(nao_launch)

find_package(ament_cmake REQUIRED)

install(DIRECTORY launch/
  DESTINATION share/${PROJECT_NAME}/launch/
)

ament_package()
EOF

# Build the workspace
colcon build
source install/setup.bash

Step 5: Test NAO Connection

Start the NAO6 ROS2 integration:

cd ~/nao_ws
source install/setup.bash

# Launch with your NAO's IP address
ros2 launch nao_launch nao6_hristudio.launch.py nao_ip:=YOUR_NAO_IP

Replace YOUR_NAO_IP with your NAO's actual IP address (e.g., 192.168.1.100).

Step 6: Verify ROS2 Topics

In a new terminal, verify that NAO topics are publishing:

source /opt/ros/humble/setup.bash

# List all topics
ros2 topic list

# You should see these NAO6 topics:
# /cmd_vel - Robot velocity commands
# /odom - Odometry data
# /joint_states - Joint positions and velocities
# /joint_angles - NAO-specific joint control
# /camera/front/image_raw - Front camera
# /camera/bottom/image_raw - Bottom camera
# /imu/torso - Inertial measurement unit
# /bumper - Foot bumper sensors
# /hand_touch - Hand tactile sensors
# /head_touch - Head tactile sensors
# /sonar/left - Left ultrasonic sensor
# /sonar/right - Right ultrasonic sensor
# /info - Robot information

# Test specific topics
ros2 topic echo /joint_states --once
ros2 topic echo /odom --once
ros2 topic echo /info --once

Step 7: Test Robot Control

Test basic robot control:

# Make NAO say something
ros2 topic pub /speech std_msgs/msg/String "data: 'Hello from ROS2!'" --once

# Move head (be careful with joint limits)
ros2 topic pub /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed \
  "joint_names: ['HeadYaw']
   joint_angles: [0.5]
   speed: 0.3" --once

# Basic walking command (very small movement)
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
  "linear: {x: 0.1, y: 0.0, z: 0.0}
   angular: {x: 0.0, y: 0.0, z: 0.0}" --once

# Stop movement
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
  "linear: {x: 0.0, y: 0.0, z: 0.0}
   angular: {x: 0.0, y: 0.0, z: 0.0}" --once

Step 8: Configure HRIStudio

1. Start HRIStudio with your development setup

2. Add NAO6 Plugin Repository:

   • Go to Admin → Plugin Repositories
   • Add the HRIStudio official repository if not already present
   • Sync to get the latest plugins including nao6-ros2

3. Install NAO6 Plugin:

   • In your study, go to Plugins
   • Install the "NAO6 Robot (ROS2 Integration)" plugin
   • Configure the ROS bridge URL: ws://YOUR_COMPUTER_IP:9090

4. Create Experiment:

   • Use the experiment designer
   • Add NAO6 actions from the robot blocks section
   • Configure parameters for each action

5. Run Trial:

   • Ensure your NAO6 ROS2 system is running
   • Start a trial in HRIStudio
   • Control the robot through the wizard interface

Available Robot Actions

Your NAO6 plugin provides these actions for experiments:

Movement Actions

• Walk with Velocity: Control linear/angular velocity
• Stop Walking: Emergency stop
• Set Joint Angle: Control individual joints
• Turn Head: Head orientation control

Interaction Actions

• Say Text: Text-to-speech via ROS2

Sensor Actions

• Get Camera Image: Capture from front/bottom cameras
• Get Joint States: Read all joint positions
• Get IMU Data: Inertial measurement data
• Get Bumper Status: Foot contact sensors
• Get Touch Sensors: Hand/head touch detection
• Get Sonar Range: Ultrasonic distance sensors
• Get Robot Info: General robot status

Troubleshooting

NAO Connection Issues

# Check NAO network connectivity
ping nao.local

# Check NAOqi service
telnet nao.local 9559

# Restart NAOqi on NAO
# (Use robot's web interface or Choregraphe)

ROS2 Issues

# Check if naoqi_driver2 is running
ros2 node list | grep naoqi

# Check topic publication rates
ros2 topic hz /joint_states

# Restart the launch file
ros2 launch nao_launch nao6_hristudio.launch.py nao_ip:=YOUR_NAO_IP

HRIStudio Connection Issues

# Verify rosbridge is running
netstat -an | grep 9090

# Check WebSocket connection
curl -i -N -H "Connection: Upgrade" \
     -H "Upgrade: websocket" \
     -H "Sec-WebSocket-Key: test" \
     -H "Sec-WebSocket-Version: 13" \
     http://localhost:9090

Robot Safety

• Always keep emergency stop accessible
• Start with small movements and low speeds
• Monitor robot battery level
• Ensure clear space around robot
• Never leave robot unattended during operation

Performance Optimization

Network Optimization

# Increase network buffer sizes for camera data
sudo sysctl -w net.core.rmem_max=26214400
sudo sysctl -w net.core.rmem_default=26214400

ROS2 Optimization

# Adjust QoS settings for better performance
export RMW_IMPLEMENTATION=rmw_cyclonedx_cpp
export CYCLONEDX_URI=file:///path/to/cyclonedx.xml

Next Steps

1. Experiment Design: Create experiments using NAO6 actions
2. Data Collection: Use sensor actions for research data
3. Custom Actions: Extend the plugin with custom behaviors
4. Multi-Robot: Scale to multiple NAO6 robots
5. Advanced Features: Implement navigation, manipulation, etc.

Support Resources

• NAO Documentation: https://developer.softbankrobotics.com/nao6
• naoqi_driver2: https://github.com/ros-naoqi/naoqi_driver2
• ROS2 Humble: https://docs.ros.org/en/humble/
• HRIStudio Docs: See docs/ folder
• Community: HRIStudio Discord/Forum

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Success! Your NAO6 is now ready for use with HRIStudio experiments. The robot's capabilities are fully accessible through the visual experiment designer and real-time wizard interface.