hristudio/docs/nao6-quick-reference.md

NAO6 Quick Reference

Essential commands for using NAO6 robots with HRIStudio.

Quick Start (Docker)

1. Start Docker Integration

cd ~/Documents/Projects/nao6-hristudio-integration
docker compose up -d

The robot will automatically wake up and autonomous life will be disabled on startup.

2. Start HRIStudio

cd ~/Documents/Projects/hristudio
bun dev

3. Verify Connection

• Open: http://localhost:3000
• Navigate to trial wizard
• WebSocket should connect automatically

Docker Services

Service	Port	Description
nao_driver	-	NAOqi driver + robot init
ros_bridge	9090	WebSocket bridge
ros_api	-	ROS API services

Auto-initialization: On Docker startup, init_robot.sh runs automatically via SSH to:

• Wake up the robot (ALMotion.wakeUp)
• Disable autonomous life (ALAutonomousLife.setState disabled)
• Ensure robot is ready for commands

ROS Topics

Commands (Publish to these):

/speech          - Text-to-speech
/cmd_vel         - Velocity commands (movement)
/joint_angles    - Joint position commands

Sensors (Subscribe to these):

/camera/front/image_raw    - Front camera
/camera/bottom/image_raw  - Bottom camera
/joint_states             - Joint positions
/imu/torso               - IMU data
/bumper                   - Foot bumpers
/{hand,head}_touch        - Touch sensors
/sonar/{left,right}       - Ultrasonic sensors
/info                     - Robot info

Robot Actions (HRIStudio)

When actions are triggered via the wizard interface, they publish to these topics:

Action	Topic	Message Type
say	/speech	std_msgs/String
say_with_emotion	/speech	std_msgs/String (with NAOqi markup)
wave_goodbye	/speech	std_msgs/String + gesture
walk	/cmd_vel	geometry_msgs/Twist
turn	/cmd_vel	geometry_msgs/Twist
move_to_posture	/service/robot_pose	naoqi_bridge_msgs/SetRobotPose
play_animation	/animation	std_msgs/String
set_eye_leds	/leds/eyes	std_msgs/ColorRGBA

Manual Control

Test Connectivity

# Network
ping 10.0.0.42

# ROS topics (inside Docker)
docker exec -it nao6-hristudio-integration-nao_driver-1 ros2 topic list

Direct Commands (inside Docker)

# Speech
docker exec -it nao6-hristudio-integration-nao_driver-1 \
  ros2 topic pub --once /speech std_msgs/String "{data: 'Hello'}"

# Movement (robot must be awake!)
docker exec -it nao6-hristudio-integration-nao_driver-1 \
  ros2 topic pub --once /cmd_vel geometry_msgs/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}}"

Robot Control via SSH

# SSH to robot
sshpass -p "nao" ssh nao@10.0.0.42

# Wake up
qicli call ALMotion.wakeUp

# Disable autonomous life
qicli call ALAutonomousLife.setState disabled

# Go to stand
qicli call ALRobotPosture.goToPosture Stand 0.5

WebSocket

URL: ws://localhost:9090

Example message:

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

Troubleshooting

Robot not moving:

• Check robot is awake: qicli call ALMotion.isWakeUp → returns true
• If not: qicli call ALMotion.wakeUp

WebSocket fails:

# Check rosbridge is running
docker compose ps

# View logs
docker compose logs ros_bridge

Connection issues:

# Restart Docker
docker compose down && docker compose up -d

# Check robot IP in .env
cat nao6-hristudio-integration/.env

Environment Variables

Create nao6-hristudio-integration/.env:

NAO_IP=10.0.0.42
NAO_USERNAME=nao
NAO_PASSWORD=nao
BRIDGE_PORT=9090

🚨 Safety Notes

• Always verify robot is awake before movement commands
• Keep emergency stop accessible (qicli call ALMotion.rest())
• Start with small movements (0.05 m/s)
• Monitor battery level
• Ensure clear space around robot

Credentials

NAO Robot:

• IP: 10.0.0.42 (configurable)
• Username: nao
• Password: nao

HRIStudio:

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

Complete Restart

# 1. Restart Docker integration
cd ~/Documents/Projects/nao6-hristudio-integration
docker compose down
docker compose up -d

# 2. Verify robot is awake (check logs)
docker compose logs nao_driver | grep -i "wake\|autonomous"

# 3. Start HRIStudio
cd ~/Documents/Projects/hristudio
bun dev

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✅ Integration Status: Production Ready
🤖 Tested With: NAO V6 / ROS2 Humble / Docker