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.
343 lines
9.6 KiB
JSON
343 lines
9.6 KiB
JSON
{
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"name": "NAO6 Movement Control",
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"version": "1.0.0",
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"description": "Complete movement control for NAO6 robot including walking, turning, and joint manipulation",
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"platform": "NAO6",
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"category": "movement",
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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/movement",
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"quickStart": "https://docs.hristudio.com/robots/nao6/movement/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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"cmd_vel": {
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"type": "geometry_msgs/Twist",
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"description": "Velocity commands for robot base movement"
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},
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"joint_angles": {
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"type": "naoqi_bridge_msgs/JointAnglesWithSpeed",
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"description": "Individual joint angle control with speed"
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},
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"joint_states": {
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"type": "sensor_msgs/JointState",
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"description": "Current joint positions and velocities"
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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": "walk_forward",
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"name": "Walk Forward",
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"description": "Make the robot walk forward at specified speed",
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"category": "movement",
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"parameters": [
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{
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"name": "speed",
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"type": "number",
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"description": "Walking speed in m/s",
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"required": true,
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"min": 0.01,
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"max": 0.3,
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"default": 0.1,
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"step": 0.01
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},
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{
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"name": "duration",
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"type": "number",
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"description": "Duration to walk in seconds (0 = indefinite)",
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"required": false,
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"min": 0,
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"max": 30,
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"default": 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/cmd_vel",
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"messageType": "geometry_msgs/Twist",
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"messageTemplate": {
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"linear": { "x": "{{speed}}", "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": 0 }
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}
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}
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},
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{
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"id": "walk_backward",
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"name": "Walk Backward",
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"description": "Make the robot walk backward at specified speed",
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"category": "movement",
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"parameters": [
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{
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"name": "speed",
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"type": "number",
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"description": "Walking speed in m/s",
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"required": true,
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"min": 0.01,
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"max": 0.3,
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"default": 0.1,
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"step": 0.01
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},
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{
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"name": "duration",
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"type": "number",
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"description": "Duration to walk in seconds (0 = indefinite)",
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"required": false,
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"min": 0,
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"max": 30,
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"default": 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/cmd_vel",
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"messageType": "geometry_msgs/Twist",
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"messageTemplate": {
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"linear": { "x": "-{{speed}}", "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": 0 }
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}
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}
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},
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{
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"id": "turn_left",
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"name": "Turn Left",
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"description": "Make the robot turn left at specified angular speed",
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"category": "movement",
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"parameters": [
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{
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"name": "speed",
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"type": "number",
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"description": "Angular speed in rad/s",
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"required": true,
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"min": 0.1,
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"max": 1.0,
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"default": 0.3,
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"step": 0.1
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},
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{
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"name": "duration",
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"type": "number",
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"description": "Duration to turn in seconds (0 = indefinite)",
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"required": false,
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"min": 0,
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"max": 30,
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"default": 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/cmd_vel",
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"messageType": "geometry_msgs/Twist",
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"messageTemplate": {
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"linear": { "x": 0, "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": "{{speed}}" }
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}
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}
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},
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{
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"id": "turn_right",
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"name": "Turn Right",
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"description": "Make the robot turn right at specified angular speed",
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"category": "movement",
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"parameters": [
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{
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"name": "speed",
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"type": "number",
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"description": "Angular speed in rad/s",
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"required": true,
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"min": 0.1,
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"max": 1.0,
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"default": 0.3,
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"step": 0.1
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},
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{
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"name": "duration",
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"type": "number",
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"description": "Duration to turn in seconds (0 = indefinite)",
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"required": false,
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"min": 0,
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"max": 30,
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"default": 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/cmd_vel",
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"messageType": "geometry_msgs/Twist",
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"messageTemplate": {
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"linear": { "x": 0, "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": "-{{speed}}" }
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}
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}
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},
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{
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"id": "stop_movement",
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"name": "Stop Movement",
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"description": "Immediately stop all robot movement",
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"category": "movement",
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"parameters": [],
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"implementation": {
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"topic": "/naoqi_driver/cmd_vel",
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"messageType": "geometry_msgs/Twist",
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"messageTemplate": {
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"linear": { "x": 0, "y": 0, "z": 0 },
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"angular": { "x": 0, "y": 0, "z": 0 }
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}
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}
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},
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{
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"id": "move_head",
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"name": "Move Head",
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"description": "Control head orientation (yaw and pitch)",
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"category": "movement",
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"parameters": [
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{
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"name": "yaw",
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"type": "number",
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"description": "Head yaw angle in radians",
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"required": true,
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"min": -2.09,
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"max": 2.09,
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"default": 0,
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"step": 0.1
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},
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{
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"name": "pitch",
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"type": "number",
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"description": "Head pitch angle in radians",
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"required": true,
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"min": -0.67,
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"max": 0.51,
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"default": 0,
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"step": 0.1
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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": "Movement speed (0.1 = slow, 1.0 = fast)",
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"required": false,
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"min": 0.1,
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"max": 1.0,
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"default": 0.3,
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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/joint_angles",
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"messageType": "naoqi_bridge_msgs/JointAnglesWithSpeed",
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"messageTemplate": {
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"joint_names": ["HeadYaw", "HeadPitch"],
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"joint_angles": ["{{yaw}}", "{{pitch}}"],
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"speed": "{{speed}}"
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}
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}
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},
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{
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"id": "move_arm",
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"name": "Move Arm",
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"description": "Control arm joint positions",
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"category": "movement",
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"parameters": [
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{
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"name": "arm",
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"type": "select",
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"description": "Which arm to control",
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"required": true,
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"options": [
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{ "value": "left", "label": "Left Arm" },
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{ "value": "right", "label": "Right Arm" }
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],
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"default": "right"
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},
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{
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"name": "shoulder_pitch",
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"type": "number",
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"description": "Shoulder pitch angle in radians",
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"required": true,
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"min": -2.09,
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"max": 2.09,
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"default": 1.4,
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"step": 0.1
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},
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{
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"name": "shoulder_roll",
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"type": "number",
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"description": "Shoulder roll angle in radians",
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"required": true,
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"min": -0.31,
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"max": 1.33,
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"default": 0.2,
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"step": 0.1
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},
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{
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"name": "elbow_yaw",
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"type": "number",
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"description": "Elbow yaw angle in radians",
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"required": true,
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"min": -2.09,
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"max": 2.09,
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"default": 0,
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"step": 0.1
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},
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{
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"name": "elbow_roll",
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"type": "number",
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"description": "Elbow roll angle in radians",
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"required": true,
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"min": -1.54,
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"max": -0.03,
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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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"name": "speed",
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"type": "number",
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"description": "Movement speed (0.1 = slow, 1.0 = fast)",
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"required": false,
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"min": 0.1,
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"max": 1.0,
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"default": 0.3,
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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/joint_angles",
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"messageType": "naoqi_bridge_msgs/JointAnglesWithSpeed",
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"messageTemplate": {
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"joint_names": [
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"{{arm === 'left' ? 'L' : 'R'}}ShoulderPitch",
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"{{arm === 'left' ? 'L' : 'R'}}ShoulderRoll",
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"{{arm === 'left' ? 'L' : 'R'}}ElbowYaw",
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"{{arm === 'left' ? 'L' : 'R'}}ElbowRoll"
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],
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"joint_angles": ["{{shoulder_pitch}}", "{{shoulder_roll}}", "{{elbow_yaw}}", "{{elbow_roll}}"],
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"speed": "{{speed}}"
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}
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}
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}
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],
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"safety": {
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"maxSpeed": 0.3,
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"emergencyStop": {
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"action": "stop_movement",
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"description": "Immediately stops all movement"
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},
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"jointLimits": {
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"HeadYaw": { "min": -2.09, "max": 2.09 },
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"HeadPitch": { "min": -0.67, "max": 0.51 },
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"LShoulderPitch": { "min": -2.09, "max": 2.09 },
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"RShoulderPitch": { "min": -2.09, "max": 2.09 },
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"LShoulderRoll": { "min": -0.31, "max": 1.33 },
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"RShoulderRoll": { "min": -1.33, "max": 0.31 },
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"LElbowYaw": { "min": -2.09, "max": 2.09 },
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"RElbowYaw": { "min": -2.09, "max": 2.09 },
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"LElbowRoll": { "min": 0.03, "max": 1.54 },
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"RElbowRoll": { "min": -1.54, "max": -0.03 }
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}
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}
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}
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