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The Northern Bites' code base for RoboCup soccer competition on the Aldebaran Nao, Standard Platform League
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INSTALLING LIBRARIES AND CROSS COMPILER In order to compile the man binaries, you must first have the NaoQI libraries and associated cross compiler installed on your machine. The archives needed to do this are available on our server. The default configuration is to install to /usr/local/nao. NOTE: The given commands should be executed from the directory where you downloaded the archives. Also, depending on your system setup, you may need root privilages to install to /usr/local/nao LINUX: First, get the NaoQI libraries by saving the file <https://robocup.bowdoin.edu/files/software/nao/NaoQi/NaoQiRobocup-1.0.0-Linux.tar.gz> to your computer. You should then extract the contents to /usr/local/nao (i.e. there should be a file /usr/local/nao/Release-notes.txt) sudo tar -xvzf NaoQiRobocup-1.0.0-Linux.tar.gz -C /usr/local If the directory /usr/local/nao already exists you should move it first sudo mv /usr/local/nao /usr/local/nao-old Then you should move the NaoQi directory to /usr/local/nao sudo mv /usr/local/NaoQiRobocup-1.0.0-Linux /usr/local/nao You will also need the cross compiler, so start by creating its directory: sudo mkdir /usr/local/nao/crosstoolchain Next, the new (1.0) cross tool chain is available from <https://robocup.bowdoin.edu/files/software/nao/cross_compiler_stuff/ctc-1.0.0b.tar.bz2> Double check to make sure you have folders named 'cross' and 'stagging' in $AL_DIR/crosstoolchain DARWIN (MAC OS X): Download the Northern Bites nao tools from <https://robocup.bowdoin.edu/files/software/nao/NaoQi/nbites-nao-darwin.tar.bz2> Extract the archive using the following command: tar -xvvjf nao-darwin.tar.bz2 NOTE: if you currently have /usr/local/nao you should move it with the following command if you do not want to lose the contents: sudo mv /usr/local/nao /usr/local/nao-old Now move the archive to /usr/local/nao: sudo mv ./nao-darwin /usr/local/nao COMPILING & INSTALLING *NAOQI1.0 NOTE*: For now, switiching between NaoQi1.0 and NaoQi0.18 is controlled by the CMake option NAOQI1.0 and the ifdef NAOQ1. Make sure the state of that switch matches the version of NaoQi you installed (presumably at /usr/local/nao). For easy switching between the two versions, I recommend making /usr/local/nao a sym link to the appropriate version: `$> ln -s NaoQi1.0 nao` We use CMake for compiling and installing our code. It has most of GNU Make's features along with some other niceties. How you are going to use the code greatly determines how you should configure the build. For most applications you will be compiling code to be run on the robot. Thus you want to execute the following commands to cross compile for the robot's OS. Do so with the following commands (where $ROBOCUP_HOME is the path to your robocup directories): cd $ROBOCUP_HOME/man make cross This will take you to a configuration screen. If you want to simply test if your code compiles, than press c to begin configuration and then press g to generate the configuration files. If you are compiling for the robot you should make sure @MAN_IS_REMOTE@ is set to OFF. If it is set to OFF, you can change it by moving over the OFF text area and hitting the enter key. Here you should also set the appropriate player for the robot and the IP address. Help for the configuration tool is accesible by typing h while the tool is running. Now to compile the code simply run: make If there are errors compiling and you need to change configuration files you can delete the configuration files and make the codebase ready for recompiling via: make clean If you have an error compiling and need to clean your codebase, but do not wish to delete your configuration files you can delete the binaries only by using the command: make cclean Once you have built the binaries they can be installed on the robot with the following command: make install RUNNING THE CODE Set the IP address of the remote robot on the configuration screenas described above. Next, ssh into the robot as root and edit the file /opt/naoqi/modules/lib/autoload.ini using `nano autoload.ini` This file lists all the modules that are loaded by NaoQi on bootime. If you are running as a dynamically linked library, you must ensure that the line man is present in that list. Additionally, you must disable pythonbridge for the Python to run correctly in our code (if you don't do this, you will get a segfault). TROUBLESHOOTING: Still having trouble? Take a look at our wiki at http://robocup.bowdoin.edu/trac. Particularly, the page http://robocup.bowdoin.edu/trac/wiki/PracticalNao might give links to more detailed instructions then those shown here.
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The Northern Bites' code base for RoboCup soccer competition on the Aldebaran Nao, Standard Platform League
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LGPL-3.0, GPL-3.0 licenses found
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