hristudio/docs/nao6-quick-reference.md

NAO6 HRIStudio Quick Reference

Essential commands for NAO6 robot integration with HRIStudio

🚀 Quick Start (5 Steps)

1. Start ROS Integration

cd ~/naoqi_ros2_ws
source install/setup.bash
ros2 launch install/nao_launch/share/nao_launch/launch/nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab

2. Wake Up Robot (CRITICAL!)

sshpass -p "robolab" ssh nao@nao.local "python2 -c \"
import sys
sys.path.append('/opt/aldebaran/lib/python2.7/site-packages')
import naoqi
motion = naoqi.ALProxy('ALMotion', '127.0.0.1', 9559)
motion.wakeUp()
print 'Robot awakened'
\""

3. Start HRIStudio

cd /home/robolab/Documents/Projects/hristudio
bun dev

4. Access Test Interface

• URL: http://localhost:3000/nao-test
• Login: sean@soconnor.dev / password123

5. Test Robot

• Click "Connect" to WebSocket
• Try speech: "Hello from HRIStudio!"
• Use movement buttons to control robot

🛠️ Essential Commands

Connection Testing

# Test NAO connectivity
ping nao.local

# Test NAOqi service
telnet nao.local 9559

# Check ROS topics
ros2 topic list | grep naoqi

Manual Robot Control

# Speech test
ros2 topic pub --once /speech std_msgs/String "data: 'Hello world'"

# Movement test (robot must be awake!)
ros2 topic pub --times 3 /cmd_vel geometry_msgs/msg/Twist '{linear: {x: 0.05, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}'

# Head movement test
ros2 topic pub --once /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed '{joint_names: ["HeadYaw"], joint_angles: [0.5], speed: 0.3}'

# Stop all movement
ros2 topic pub --once /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}}'

Status Checks

# Check robot info
ros2 service call /naoqi_driver/get_robot_config naoqi_bridge_msgs/srv/GetRobotInfo

# Monitor joint states
ros2 topic echo /naoqi_driver/joint_states --once

# Check ROS nodes
ros2 node list

# Check WebSocket connection
ss -an | grep 9090

🔧 Troubleshooting

Robot Not Moving

Problem: Commands sent but robot doesn't move Solution: Robot needs to be awakened first

# Wake up via SSH (see step 2 above)
# OR press chest button for 3 seconds

Connection Issues

# Kill existing processes
sudo fuser -k 9090/tcp
pkill -f "rosbridge\|naoqi\|ros2"

# Restart database
sudo docker compose down && sudo docker compose up -d

Import Errors in Web Interface

Problem: React component import failures Solution: Use ~ import alias consistently:

import { Button } from "~/components/ui/button";
// NOT: import { Button } from "@/components/ui/button";

📊 Key Topics

Input Topics (Robot Control)

• /speech - Text-to-speech
• /cmd_vel - Movement commands
• /joint_angles - Joint position control

Output Topics (Sensor Data)

• /naoqi_driver/joint_states - Joint positions/velocities
• /naoqi_driver/bumper - Foot sensors
• /naoqi_driver/hand_touch - Hand touch sensors
• /naoqi_driver/head_touch - Head touch sensors
• /naoqi_driver/sonar/left - Left ultrasonic sensor
• /naoqi_driver/sonar/right - Right ultrasonic sensor
• /naoqi_driver/camera/front/image_raw - Front camera
• /naoqi_driver/camera/bottom/image_raw - Bottom camera

🔗 WebSocket Integration

ROS Bridge URL: ws://134.82.159.25:9090

Message Format:

// Publish command
{
  "op": "publish",
  "topic": "/speech",
  "type": "std_msgs/String",
  "msg": {"data": "Hello world"}
}

// Subscribe to topic
{
  "op": "subscribe",
  "topic": "/naoqi_driver/joint_states",
  "type": "sensor_msgs/JointState"
}

🎯 Common Use Cases

Make Robot Speak

ros2 topic pub --once /speech std_msgs/String "data: 'Welcome to the experiment'"

Walk Forward 3 Steps

ros2 topic pub --times 3 /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}}'

Turn Head Left

ros2 topic pub --once /joint_angles naoqi_bridge_msgs/msg/JointAnglesWithSpeed '{joint_names: ["HeadYaw"], joint_angles: [0.8], speed: 0.2}'

Emergency Stop

ros2 topic pub --once /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}}'

🚨 Safety Notes

• Always wake up robot before movement commands
• Keep emergency stop accessible
• Start with small movements (0.05 m/s)
• Monitor battery level during experiments
• Ensure clear space around robot

📝 Credentials

Default NAO Login:

• Username: nao
• Password: robolab (institution-specific)

HRIStudio Login:

• Email: sean@soconnor.dev
• Password: password123

🔄 Complete Restart Procedure

# 1. Kill all processes
sudo fuser -k 9090/tcp
pkill -f "rosbridge\|naoqi\|ros2"

# 2. Restart database
sudo docker compose down && sudo docker compose up -d

# 3. Start ROS integration
cd ~/naoqi_ros2_ws && source install/setup.bash
ros2 launch install/nao_launch/share/nao_launch/launch/nao6_hristudio.launch.py nao_ip:=nao.local password:=robolab

# 4. Wake up robot (in another terminal)
sshpass -p "robolab" ssh nao@nao.local "python2 -c \"import sys; sys.path.append('/opt/aldebaran/lib/python2.7/site-packages'); import naoqi; naoqi.ALProxy('ALMotion', '127.0.0.1', 9559).wakeUp()\""

# 5. Start HRIStudio (in another terminal)
cd /home/robolab/Documents/Projects/hristudio && bun dev

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📖 For detailed setup instructions, see: NAO6 Complete Integration Guide

✅ Integration Status: Production Ready
🤖 Tested With: NAO V6.0 / NAOqi 2.8.7.4 / ROS2 Humble