Add implementation properties for trial execution

- Remove /naoqi_driver/ prefix from all topic names
- Topics are published/subscribed without prefix in naoqi_driver
- Affects: cmd_vel, joint_states, joint_angles, cameras, imu, speech, bumper, touch sensors, sonar, info

This fixes the mismatch between plugin topic definitions and actual ROS topics exposed by the naoqi_driver node.

plugins/nao6-ros2.json

@@ -62,18 +62,18 @@
     "defaultTopics": {
       "cmd_vel": "/cmd_vel",
       "odom": "/odom",
-      "joint_states": "/naoqi_driver/joint_states",
+      "joint_states": "/joint_states",
       "joint_angles": "/joint_angles",
-      "camera_front": "/naoqi_driver/camera/front/image_raw",
-      "camera_bottom": "/naoqi_driver/camera/bottom/image_raw",
-      "imu": "/naoqi_driver/imu/torso",
+      "camera_front": "/camera/front/image_raw",
+      "camera_bottom": "/camera/bottom/image_raw",
+      "imu": "/imu/torso",
       "speech": "/speech",
-      "bumper": "/naoqi_driver/bumper",
-      "hand_touch": "/naoqi_driver/hand_touch",
-      "head_touch": "/naoqi_driver/head_touch",
-      "sonar_left": "/naoqi_driver/sonar/left",
-      "sonar_right": "/naoqi_driver/sonar/right",
-      "info": "/naoqi_driver/info"
+      "bumper": "/bumper",
+      "hand_touch": "/hand_touch",
+      "head_touch": "/head_touch",
+      "sonar_left": "/sonar/left",
+      "sonar_right": "/sonar/right",
+      "info": "/info"
     }
   },
   "settingsSchema": {
@@ -311,6 +311,23 @@
             }
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/cmd_vel",
+        "messageType": "geometry_msgs/msg/Twist",
+        "messageTemplate": {
+          "linear": {
+            "x": "{{speed}}",
+            "y": 0,
+            "z": 0
+          },
+          "angular": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          }
+        }
       }
     },
     {
@@ -361,6 +378,23 @@
             }
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/cmd_vel",
+        "messageType": "geometry_msgs/msg/Twist",
+        "messageTemplate": {
+          "linear": {
+            "x": "-{{speed}}",
+            "y": 0,
+            "z": 0
+          },
+          "angular": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          }
+        }
       }
     },
     {
@@ -411,6 +445,23 @@
             }
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/cmd_vel",
+        "messageType": "geometry_msgs/msg/Twist",
+        "messageTemplate": {
+          "linear": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          },
+          "angular": {
+            "x": 0,
+            "y": 0,
+            "z": "{{speed}}"
+          }
+        }
       }
     },
     {
@@ -461,6 +512,23 @@
             }
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/cmd_vel",
+        "messageType": "geometry_msgs/msg/Twist",
+        "messageTemplate": {
+          "linear": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+          },
+          "angular": {
+            "x": 0,
+            "y": 0,
+            "z": "-{{speed}}"
+          }
+        }
       }
     },
     {
@@ -534,6 +602,14 @@
           "reliability": "reliable",
           "durability": "volatile"
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/speech",
+        "messageType": "std_msgs/msg/String",
+        "messageTemplate": {
+          "data": "{{text}}"
+        }
       }
     },
     {
@@ -585,6 +661,14 @@
             "data": "\\rspd={{speed}}\\\\rst={{emotion}}\\{{text}}"
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/speech",
+        "messageType": "std_msgs/msg/String",
+        "messageTemplate": {
+          "data": "{{text}}"
+        }
       }
     },
     {
@@ -719,6 +803,16 @@
             "speed": "{{speed}}"
           }
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/joint_angles",
+        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
+        "messageTemplate": {
+          "joint_names": ["HeadYaw", "HeadPitch"],
+          "joint_angles": ["{{yaw}}", "{{pitch}}"],
+          "speed": "{{speed}}"
+        }
       }
     },
     {
@@ -923,6 +1017,16 @@
           "type": "transform",
           "transformFn": "transformToHeadMovement"
         }
+      },
+      "implementation": {
+        "type": "ros2_topic",
+        "topic": "/joint_angles",
+        "messageType": "naoqi_bridge_msgs/msg/JointAnglesWithSpeed",
+        "messageTemplate": {
+          "joint_names": ["HeadYaw", "HeadPitch"],
+          "joint_angles": ["{{yaw}}", "{{pitch}}"],
+          "speed": "{{speed}}"
+        }
       }
     },
     {