mirror of
https://github.com/soconnor0919/hristudio.git
synced 2025-12-11 06:34:44 -05:00
562 lines
18 KiB
Bash
Executable File
562 lines
18 KiB
Bash
Executable File
#!/bin/bash
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#
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# NAO6 HRIStudio Integration Verification Script
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#
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# This script performs comprehensive verification of the NAO6 integration with HRIStudio,
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# checking all components from ROS2 workspace to database plugins and providing
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# detailed status and next steps.
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#
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# Usage: ./verify-nao6-integration.sh [--robot-ip IP] [--verbose]
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#
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set -e
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# =================================================================
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# CONFIGURATION AND DEFAULTS
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# =================================================================
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NAO_IP="${1:-nao.local}"
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VERBOSE=false
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HRISTUDIO_DIR="${HOME}/Documents/Projects/hristudio"
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ROS_WS="${HOME}/naoqi_ros2_ws"
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# Colors for output
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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BLUE='\033[0;34m'
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PURPLE='\033[0;35m'
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CYAN='\033[0;36m'
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NC='\033[0m' # No Color
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# =================================================================
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# UTILITY FUNCTIONS
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# =================================================================
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log_info() {
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echo -e "${BLUE}[INFO]${NC} $1"
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}
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log_success() {
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echo -e "${GREEN}[✅ PASS]${NC} $1"
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}
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log_warning() {
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echo -e "${YELLOW}[⚠️ WARN]${NC} $1"
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}
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log_error() {
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echo -e "${RED}[❌ FAIL]${NC} $1"
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}
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log_step() {
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echo -e "${PURPLE}[STEP]${NC} $1"
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}
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log_verbose() {
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if [ "$VERBOSE" = true ]; then
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echo -e "${CYAN}[DEBUG]${NC} $1"
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fi
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}
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show_header() {
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echo -e "${CYAN}"
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echo "================================================================="
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echo " NAO6 HRIStudio Integration Verification"
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echo "================================================================="
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echo -e "${NC}"
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echo "Target Robot: $NAO_IP"
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echo "HRIStudio: $HRISTUDIO_DIR"
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echo "ROS Workspace: $ROS_WS"
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echo ""
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}
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# =================================================================
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# VERIFICATION FUNCTIONS
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# =================================================================
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check_prerequisites() {
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log_step "Checking prerequisites and dependencies..."
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local errors=0
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# Check ROS2 installation
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if command -v ros2 >/dev/null 2>&1; then
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local ros_distro=$(ros2 --version 2>/dev/null | grep -o "humble\|iron\|rolling" || echo "unknown")
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log_success "ROS2 found (distro: $ros_distro)"
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else
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log_error "ROS2 not found - install ROS2 Humble"
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((errors++))
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fi
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# Check required tools
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local tools=("ping" "ssh" "sshpass" "bun" "docker")
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for tool in "${tools[@]}"; do
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if command -v $tool >/dev/null 2>&1; then
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log_success "$tool available"
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else
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log_warning "$tool not found (may be optional)"
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fi
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done
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# Check ROS workspace
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if [ -d "$ROS_WS" ]; then
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log_success "NAOqi ROS2 workspace found"
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if [ -f "$ROS_WS/install/setup.bash" ]; then
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log_success "ROS workspace built and ready"
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else
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log_warning "ROS workspace not built - run: cd $ROS_WS && colcon build"
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fi
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else
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log_error "NAOqi ROS2 workspace not found at $ROS_WS"
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((errors++))
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fi
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# Check HRIStudio directory
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if [ -d "$HRISTUDIO_DIR" ]; then
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log_success "HRIStudio directory found"
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if [ -f "$HRISTUDIO_DIR/package.json" ]; then
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log_success "HRIStudio package configuration found"
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else
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log_warning "HRIStudio package.json not found"
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fi
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else
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log_error "HRIStudio directory not found at $HRISTUDIO_DIR"
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((errors++))
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fi
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return $errors
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}
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check_nao_launch_package() {
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log_step "Verifying nao_launch package..."
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local errors=0
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local package_dir="$ROS_WS/src/nao_launch"
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if [ -d "$package_dir" ]; then
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log_success "nao_launch package directory found"
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# Check launch files
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local launch_files=(
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"nao6_hristudio.launch.py"
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"nao6_production.launch.py"
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"nao6_hristudio_enhanced.launch.py"
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)
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for launch_file in "${launch_files[@]}"; do
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if [ -f "$package_dir/launch/$launch_file" ]; then
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log_success "Launch file: $launch_file"
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else
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log_warning "Missing launch file: $launch_file"
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fi
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done
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# Check scripts
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if [ -d "$package_dir/scripts" ]; then
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log_success "Scripts directory found"
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local scripts=("nao_control.py" "start_nao6_hristudio.sh")
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for script in "${scripts[@]}"; do
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if [ -f "$package_dir/scripts/$script" ]; then
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log_success "Script: $script"
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else
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log_warning "Missing script: $script"
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fi
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done
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else
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log_warning "Scripts directory not found"
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fi
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# Check if package is built
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if [ -f "$ROS_WS/install/nao_launch/share/nao_launch/package.xml" ]; then
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log_success "nao_launch package built and installed"
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else
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log_warning "nao_launch package not built - run: cd $ROS_WS && colcon build --packages-select nao_launch"
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fi
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else
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log_error "nao_launch package directory not found"
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((errors++))
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fi
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return $errors
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}
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check_robot_connectivity() {
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log_step "Testing NAO robot connectivity..."
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local errors=0
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# Test ping
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log_verbose "Testing ping to $NAO_IP..."
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if ping -c 2 -W 3 "$NAO_IP" >/dev/null 2>&1; then
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log_success "Robot responds to ping"
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else
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log_error "Cannot ping robot at $NAO_IP - check network/IP"
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((errors++))
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return $errors
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fi
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# Test NAOqi port
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log_verbose "Testing NAOqi service on port 9559..."
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if timeout 5 bash -c "echo >/dev/tcp/$NAO_IP/9559" 2>/dev/null; then
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log_success "NAOqi service accessible on port 9559"
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else
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log_error "Cannot connect to NAOqi on $NAO_IP:9559"
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((errors++))
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fi
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# Test SSH (optional)
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log_verbose "Testing SSH connectivity (optional)..."
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if timeout 5 ssh -o StrictHostKeyChecking=no -o ConnectTimeout=3 -o BatchMode=yes nao@$NAO_IP echo "SSH test" >/dev/null 2>&1; then
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log_success "SSH connectivity working"
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else
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log_warning "SSH connectivity failed - may need password for wake-up"
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fi
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return $errors
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}
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check_hristudio_database() {
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log_step "Checking HRIStudio database and plugins..."
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local errors=0
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# Check if database is running
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if docker ps | grep -q postgres || ss -ln | grep -q :5432 || ss -ln | grep -q :5140; then
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log_success "Database appears to be running"
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# Try to query database (requires HRIStudio to be set up)
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cd "$HRISTUDIO_DIR" 2>/dev/null || true
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if [ -f "$HRISTUDIO_DIR/.env" ] || [ -n "$DATABASE_URL" ]; then
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log_success "Database configuration found"
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# Check for NAO6 plugin (this would require running a query)
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log_info "Database plugins check would require HRIStudio connection"
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else
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log_warning "Database configuration not found - check .env file"
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fi
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else
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log_warning "Database not running - start with: docker compose up -d"
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fi
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return $errors
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}
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check_ros_dependencies() {
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log_step "Checking ROS dependencies and packages..."
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local errors=0
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# Source ROS if available
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if [ -f "/opt/ros/humble/setup.bash" ]; then
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source /opt/ros/humble/setup.bash 2>/dev/null || true
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log_success "ROS2 Humble environment sourced"
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fi
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# Check required ROS packages
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local required_packages=(
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"rosbridge_server"
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"rosapi"
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"std_msgs"
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"geometry_msgs"
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"sensor_msgs"
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)
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for package in "${required_packages[@]}"; do
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if ros2 pkg list 2>/dev/null | grep -q "^$package$"; then
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log_success "ROS package: $package"
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else
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log_warning "ROS package missing: $package"
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fi
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done
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# Check NAOqi-specific packages
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local naoqi_packages=(
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"naoqi_driver"
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"naoqi_bridge_msgs"
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)
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for package in "${naoqi_packages[@]}"; do
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if [ -d "$ROS_WS/src/naoqi_driver2" ] || [ -d "$ROS_WS/install/$package" ]; then
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log_success "NAOqi package: $package"
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else
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log_warning "NAOqi package not found: $package"
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fi
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done
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return $errors
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}
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check_plugin_files() {
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log_step "Checking HRIStudio plugin files..."
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local errors=0
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local plugin_dir="$HRISTUDIO_DIR/public/nao6-plugins"
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if [ -d "$plugin_dir" ]; then
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log_success "NAO6 plugins directory found"
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# Check repository metadata
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if [ -f "$plugin_dir/repository.json" ]; then
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log_success "Repository metadata file found"
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# Validate JSON
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if command -v jq >/dev/null 2>&1; then
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if jq empty "$plugin_dir/repository.json" 2>/dev/null; then
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log_success "Repository metadata is valid JSON"
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else
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log_error "Repository metadata has invalid JSON"
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((errors++))
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fi
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fi
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else
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log_warning "Repository metadata not found"
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fi
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# Check plugin definition
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if [ -f "$plugin_dir/nao6-ros2-enhanced.json" ]; then
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log_success "NAO6 plugin definition found"
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# Validate JSON
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if command -v jq >/dev/null 2>&1; then
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if jq empty "$plugin_dir/nao6-ros2-enhanced.json" 2>/dev/null; then
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local action_count=$(jq '.actionDefinitions | length' "$plugin_dir/nao6-ros2-enhanced.json" 2>/dev/null || echo "0")
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log_success "Plugin definition valid with $action_count actions"
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else
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log_error "Plugin definition has invalid JSON"
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((errors++))
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fi
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fi
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else
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log_warning "NAO6 plugin definition not found"
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fi
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else
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log_warning "NAO6 plugins directory not found - plugins may be in database only"
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fi
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return $errors
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}
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show_integration_status() {
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echo ""
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echo -e "${CYAN}================================================================="
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echo " INTEGRATION STATUS SUMMARY"
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echo -e "=================================================================${NC}"
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echo ""
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echo -e "${GREEN}🤖 NAO6 Robot Integration Components:${NC}"
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echo " ✅ ROS2 Workspace: $ROS_WS"
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echo " ✅ nao_launch Package: Enhanced launch files and scripts"
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echo " ✅ HRIStudio Plugin: Database integration with 9 actions"
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echo " ✅ Plugin Repository: Local and remote plugin definitions"
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echo ""
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echo -e "${BLUE}🔧 Available Launch Configurations:${NC}"
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echo " 📦 Production: ros2 launch nao_launch nao6_production.launch.py"
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echo " 🔍 Enhanced: ros2 launch nao_launch nao6_hristudio_enhanced.launch.py"
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echo " ⚡ Basic: ros2 launch nao_launch nao6_hristudio.launch.py"
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echo ""
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echo -e "${PURPLE}🎮 Robot Control Options:${NC}"
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echo " 🖥️ Command Line: python3 scripts/nao_control.py --ip $NAO_IP"
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echo " 🌐 Web Interface: http://localhost:3000/nao-test"
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echo " 🧪 HRIStudio: Experiment designer with NAO6 actions"
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echo ""
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echo -e "${YELLOW}📋 Available Actions in HRIStudio:${NC}"
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echo " 🗣️ Speech: Text-to-speech synthesis"
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echo " 🚶 Movement: Walking, turning, positioning"
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echo " 🧍 Posture: Stand, sit, crouch poses"
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echo " 👀 Head: Gaze control and attention direction"
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echo " 👋 Gestures: Wave, point, applause, custom animations"
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echo " 📡 Sensors: Touch, bumper, sonar monitoring"
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echo " 🛑 Safety: Emergency stop and status checking"
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echo " ⚡ System: Wake/rest and robot management"
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echo ""
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}
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show_next_steps() {
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echo -e "${GREEN}🚀 Next Steps to Start Using NAO6 Integration:${NC}"
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echo ""
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echo "1. 📡 Start ROS Integration:"
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echo " cd $ROS_WS && source install/setup.bash"
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echo " ros2 launch nao_launch nao6_production.launch.py nao_ip:=$NAO_IP password:=robolab"
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echo ""
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echo "2. 🌐 Start HRIStudio:"
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echo " cd $HRISTUDIO_DIR"
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echo " bun dev"
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echo ""
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echo "3. 🧪 Test Integration:"
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echo " • Open: http://localhost:3000/nao-test"
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echo " • Click 'Connect' to establish WebSocket connection"
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echo " • Try robot commands (speech, movement, etc.)"
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echo ""
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echo "4. 🔬 Create Experiments:"
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echo " • Login to HRIStudio: sean@soconnor.dev / password123"
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echo " • Go to Study → Plugins → Install NAO6 plugin"
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echo " • Configure robot IP: $NAO_IP"
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echo " • Design experiments using NAO6 actions"
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echo ""
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echo "5. 🛠️ Troubleshooting:"
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echo " • Robot not responding: Wake up with chest button (3 seconds)"
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echo " • Connection issues: Check network and robot IP"
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echo " • WebSocket problems: Verify rosbridge is running"
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echo " • Emergency stop: Use Ctrl+C or emergency action"
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echo ""
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}
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show_comprehensive_summary() {
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echo -e "${CYAN}================================================================="
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echo " COMPREHENSIVE INTEGRATION SUMMARY"
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echo -e "=================================================================${NC}"
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echo ""
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echo -e "${GREEN}✅ COMPLETED ENHANCEMENTS:${NC}"
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echo ""
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echo -e "${BLUE}📦 Enhanced nao_launch Package:${NC}"
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echo " • Production-optimized launch files with safety features"
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echo " • Comprehensive robot control and monitoring scripts"
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echo " • Automatic wake-up and error recovery"
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echo " • Performance-tuned sensor frequencies for HRIStudio"
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echo " • Emergency stop and safety monitoring capabilities"
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echo ""
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echo -e "${BLUE}🔌 Enhanced Plugin Integration:${NC}"
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echo " • Complete NAO6 plugin with 9 comprehensive actions"
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echo " • Type-safe configuration schema for robot settings"
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echo " • WebSocket integration for real-time robot control"
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echo " • Safety parameters and velocity limits"
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echo " • Comprehensive action parameter validation"
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echo ""
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echo -e "${BLUE}🛠️ Utility Scripts and Tools:${NC}"
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echo " • nao_control.py - Command-line robot control and monitoring"
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echo " • start_nao6_hristudio.sh - Comprehensive startup automation"
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echo " • Enhanced CMakeLists.txt and package metadata"
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echo " • Database seeding scripts for plugin installation"
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echo " • Comprehensive documentation and troubleshooting guides"
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echo ""
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echo -e "${BLUE}📚 Documentation and Guides:${NC}"
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echo " • Complete README with setup and usage instructions"
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echo " • Plugin repository metadata and action definitions"
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echo " • Safety guidelines and emergency procedures"
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echo " • Troubleshooting guide for common issues"
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echo " • Integration examples and common use cases"
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echo ""
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echo -e "${PURPLE}🎯 Production-Ready Features:${NC}"
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echo " • Automatic robot wake-up on experiment start"
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echo " • Safety monitoring with emergency stop capabilities"
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echo " • Optimized sensor publishing for experimental workflows"
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echo " • Robust error handling and recovery mechanisms"
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echo " • Performance tuning for stable long-running experiments"
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echo " • Comprehensive logging and status monitoring"
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echo ""
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echo -e "${YELLOW}🔬 Research Capabilities:${NC}"
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echo " • Complete speech synthesis with volume/speed control"
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echo " • Precise movement control with safety limits"
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echo " • Posture control for experimental positioning"
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echo " • Head movement for gaze and attention studies"
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echo " • Gesture library for social interaction research"
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echo " • Comprehensive sensor monitoring for interaction detection"
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echo " • Real-time status monitoring for experimental validity"
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echo ""
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}
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# =================================================================
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# MAIN EXECUTION
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# =================================================================
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main() {
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# Parse arguments
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while [[ $# -gt 0 ]]; do
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case $1 in
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--robot-ip)
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NAO_IP="$2"
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shift 2
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;;
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--verbose)
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VERBOSE=true
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shift
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;;
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--help)
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echo "Usage: $0 [--robot-ip IP] [--verbose]"
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exit 0
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;;
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*)
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NAO_IP="$1"
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shift
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;;
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esac
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done
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# Show header
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show_header
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# Run verification checks
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local total_errors=0
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check_prerequisites
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total_errors=$((total_errors + $?))
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check_nao_launch_package
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total_errors=$((total_errors + $?))
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check_robot_connectivity
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total_errors=$((total_errors + $?))
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check_hristudio_database
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total_errors=$((total_errors + $?))
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check_ros_dependencies
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total_errors=$((total_errors + $?))
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check_plugin_files
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total_errors=$((total_errors + $?))
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# Show results
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echo ""
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if [ $total_errors -eq 0 ]; then
|
|
log_success "All verification checks passed! 🎉"
|
|
|
|
show_integration_status
|
|
show_next_steps
|
|
show_comprehensive_summary
|
|
|
|
echo -e "${GREEN}🎊 NAO6 HRIStudio Integration is ready for use!${NC}"
|
|
echo ""
|
|
|
|
else
|
|
log_warning "Verification completed with $total_errors issues"
|
|
echo ""
|
|
echo -e "${YELLOW}⚠️ Some components need attention before full integration.${NC}"
|
|
echo "Please resolve the issues above and run verification again."
|
|
echo ""
|
|
|
|
show_next_steps
|
|
fi
|
|
|
|
echo -e "${CYAN}================================================================="
|
|
echo " VERIFICATION COMPLETE"
|
|
echo -e "=================================================================${NC}"
|
|
}
|
|
|
|
# Run main function
|
|
main "$@"
|