Nao tutorial 2: First module - Revision history

Victorm at 20:22, 1 November 2015

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Victorm at 10:31, 18 February 2015

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Victorm at 09:00, 3 December 2014

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Victorm at 08:56, 28 November 2013

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Victorm at 10:56, 27 November 2013

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Victorm at 12:06, 1 September 2013

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Victorm at 08:34, 19 September 2012

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Victorm at 09:53, 14 September 2012

2012-09-14T09:53:31Z

@@ Line 9: / Line 9: @@
 Now, it is time for you to delve deeper into the subject, and the best way is to code and test your own example module. Nao has some good default applications that allow you to control his behaviour (like Choregraphe), but this is nothing compared with the freedom that compiling your own applications gives to you. Hence, you will now practice with the [https://community.aldebaran.com/en/resources/software official SDK].
-<span style="color:#606060">'''''NOTE: This tutorial was targeted for version 1.10.10 of the SDK and OS. Newer versions have changed a lot of things, making most of these tutorials deprecated.'''''</span>
+<span style="color:#606060">'''''NOTE: This 2011 tutorial was targeted for version 1.10.10 of the SDK and OS. Newer versions have changed a lot of things, making most of these tutorials deprecated.'''''</span>
 ==Getting everything ready==

@@ Line 7: / Line 7: @@
 The [[Nao tutorial 1: First steps | first tutorial]] focused about giving you a painless introduction to Nao's world. You turned the robot on, connected to him through the web interface and SSH, configured some parameters and learnt a bit about the most important files and directories.
-Now, it is time for you to delve deeper into the subject, and the best way is to code and test your own example module. Nao has some good default applications that allow you to control his behaviour (like Choregraphe), but this is nothing compared with the freedom that compiling your own applications gives to you. Hence, you will now practice with the [https://community.aldebaran-robotics.com/ official SDK].
+Now, it is time for you to delve deeper into the subject, and the best way is to code and test your own example module. Nao has some good default applications that allow you to control his behaviour (like Choregraphe), but this is nothing compared with the freedom that compiling your own applications gives to you. Hence, you will now practice with the [https://community.aldebaran.com/en/resources/software official SDK].
 <span style="color:#606060">'''''NOTE: This tutorial was targeted for version 1.10.10 of the SDK and OS. Newer versions have changed a lot of things, making most of these tutorials deprecated.'''''</span>

@@ Line 29: / Line 29: @@
 A couple of Linux packages are needed to create and build your own applications. Luckily, this can be as easy as entering the following command in a terminal (Debian or Ubuntu only, folks):
-<syntaxhighlight lang=Bash>sudo apt-get install build-essential cmake python-all python-tk libboost-all-dev libmpfr-dev cmake-curses-gui -y</syntaxhighlight>
+<syntaxhighlight lang=Bash>sudo apt-get install build-essential cmake python-all python-tk libboost-all-dev libmpfr-dev cmake-curses-gui</syntaxhighlight>
 ==Helloworld example in Naoqi==

@@ Line 18: / Line 18: @@
 The guys from Aldebaran Robotics have an official SDK (Software Development Kit) available for registered users, on their [https://community.aldebaran-robotics.com/ webpage]. Navigate to this link, enter your login info (you have it, right?), then click the <span style="color:#228B22">"Software"</span> and <span style="color:#228B22">"Download"</span> links.
 [[Image:Aldebaran_downloads_website.jpg|thumb|center|700px|Aldebaran's software download website.]]
 You must download the last version of the Linux SDK (1.10.10 currently). After clicking on it, you have to scroll down the user license agreement, <span style="color:#228B22">"I agree"</span>, and <span style="color:#228B22">"Click here to proceed"</span>. Wait for the 162 MB file to download (it's called <span style="color:#1E90FF">''naoqi-sdk-1.10.10-linux.tar.gz''</span>). Extract its contents, and it will spawn a directory named <span style="color:#FF8C00">''naoqi-sdk-1.10.10-linux/''</span>. Move it to the location you like most.
@@ Line 54: / Line 56: @@
 Programming for Nao focuses around modules. There are several default modules available that provide many utilities, like ALMotion (for moving the robot), ALMemory (for safe data storage and interchange), or ALLogger, which is used in the Helloworld example for message output. And of course, you can create your own. Modules communicate between themselves using proxies. A proxy is nothing more than an object that lets you call functions from other modules, passing parameters and such.
 [[Image:Brokers_and_modules.jpg|thumb|center|700px|Graph that shows how brokers and modules work internally.]]
 The other important concept is the broker. A broker is an executable that runs in the robot, listening on a given port for incoming commands (like a server). Brokers can load a list of modules at startup, and then manage the communication procedure. By default, the robot starts a broker called "MainBroker" that listens on port 9559, and loads the list of modules found in <span style="color:#1E90FF">''autoload.ini''</span>. You can create your own broker as well.
@@ Line 208: / Line 212: @@
 <syntaxhighlight lang=Bash>ccmake .</syntaxhighlight>
 [[Image:Ccmake_GUI.jpg|thumb|center|700px|Interface of ''ccmake''.]]
 You can change a lot of options here. For example, <span style="color:#FF1493">"MYTESTPROJECT_IS_REMOTE"</span> controls whether or not your example is compiled as a dynamic library, or as an executable (defaults to the first). When you are done, press <span style="color:#228B22">'''C'''</span> to configure and <span style="color:#228B22">'''G'''</span> to generate and exit the tool. The rest is easy:

@@ Line 7: / Line 7: @@
 The [[Nao tutorial 1: First steps | first tutorial]] focused about giving you a painless introduction to Nao's world. You turned the robot on, connected to him through the web interface and SSH, configured some parameters and learnt a bit about the most important files and directories.
-Now, it is time for you to delve deeper into the subject, and the best way is to code and test your own example module. Nao has some good default applications that allow you to control his behaviour (like Choregraphe), but this is nothing compared with the freedom that compiling your own applications gives to you. Hence, you will now practice with the [http://users.aldebaran-robotics.com/ official SDK] (section <span style="color:#228B22">"Software/Download"</span>).
+Now, it is time for you to delve deeper into the subject, and the best way is to code and test your own example module. Nao has some good default applications that allow you to control his behaviour (like Choregraphe), but this is nothing compared with the freedom that compiling your own applications gives to you. Hence, you will now practice with the [https://community.aldebaran-robotics.com/ official SDK].
-<span style="color:#606060">'''''NOTE: This tutorial is targeted for version 1.10.10 of the SDK and OS. Older versions like 1.8.16 or 1.6.13 are not likely to work.'''''</span>
+<span style="color:#606060">'''''NOTE: This tutorial was targeted for version 1.10.10 of the SDK and OS. Newer versions have changed a lot of things, making most of these tutorials deprecated.'''''</span>
 ==Getting everything ready==
@@ Line 17: / Line 17: @@
 ===Official SDK===
-The guys from Aldebaran Robotics have an official SDK (Software Development Kit) available for registered users, on their [http://users.aldebaran-robotics.com/ webpage]. Navigate to this link, enter your login info (you have it, right?), then click the <span style="color:#228B22">"Software"</span> and <span style="color:#228B22">"Download"</span> links.
+The guys from Aldebaran Robotics have an official SDK (Software Development Kit) available for registered users, on their [https://community.aldebaran-robotics.com/ webpage]. Navigate to this link, enter your login info (you have it, right?), then click the <span style="color:#228B22">"Software"</span> and <span style="color:#228B22">"Download"</span> links.
 [[Image:Aldebaran_downloads_website.jpg|thumb|center|700px|Aldebaran's software download website.]]
@@ Line 199: / Line 199: @@
 Compilation will be slightly different than the previous time. Our new code needs to be tested on Nao, as your local Naoqi doesn't have the text-to-speech resources. So we will compile code for the AMD Geode CPU of your robot for the first time.
-The Geode toolchain is available as a separate download on the [http://users.aldebaran-robotics.com/ webpage]. Go back to the Downloads section, but click on <span style="color:#228B22">"All Downloads"</span> this time. Now select your SDK's version (1.10.10 currently), click <span style="color:#228B22">"Linux"</span>, and finally download <span style="color:#228B22">"Cross Compilation Toolchain v1.10.10"</span> like you did with the last file. After the 186 MB file has finished downloading, extract it anywhere (I put it next to the SDK directory).
+The Geode toolchain is available as a separate download on the [https://community.aldebaran-robotics.com/ webpage]. Go back to the Downloads section, but click on <span style="color:#228B22">"All Downloads"</span> this time. Now select your SDK's version (1.10.10 currently), click <span style="color:#228B22">"Linux"</span>, and finally download <span style="color:#228B22">"Cross Compilation Toolchain v1.10.10"</span> like you did with the last file. After the 186 MB file has finished downloading, extract it anywhere (I put it next to the SDK directory).
 Create a new <span style="color:#FF8C00">''build/''</span> directory in your project's directory, next to the <span style="color:#FF8C00">''src/''</span> and <span style="color:#FF8C00">''tests/''</span> ones. Open a terminal, <span style="color:#228B22">''cd''</span> to it and run Cmake once more, but feeding it the Geode toolchain instead, which is in the root of the freshly uncompressed directory (change the path as needed):

@@ Line 1: / Line 1: @@
 The [[Nao tutorial 1: First steps | first tutorial]] focused about giving you a painless introduction to Nao's world. You turned the robot on, connected to him through the web interface and SSH, configured some parameters and learnt a bit about the most important files and directories.
@@ Line 274: / Line 280: @@
 That was all. You are now free to implement your own stuff (let's say, Asimov's Three Laws of Robotics) and unleash Nao's power on mankind. The rest is just trial and error. Do not hesitate to email me if you have questions about the tutorials (but remember, I am not Aldebaran's official support!). Good coding!
 ----
 ----
-Previous tutorial: [[Nao tutorial 1: First steps]]
+Go to root: [[TFM-Nao-Goalkeeper]]
-----
+[[Nao tutorial 2: First module]]
-FAQ: [[Nao troubleshooting]]
+[[Nao troubleshooting]]

@@ Line 13: / Line 13: @@
 The guys from Aldebaran Robotics have an official SDK (Software Development Kit) available for registered users, on their [http://users.aldebaran-robotics.com/ webpage]. Navigate to this link, enter your login info (you have it, right?), then click the <span style="color:#228B22">"Software"</span> and <span style="color:#228B22">"Download"</span> links.
-[[Image:Aldebaran_downloads_website.jpg|thumb|none|600px|Aldebaran's software download website.]]
+[[Image:Aldebaran_downloads_website.jpg|thumb|none|700px|Aldebaran's software download website.]]
 You must download the last version of the Linux SDK (1.10.10 currently). After clicking on it, you have to scroll down the user license agreement, <span style="color:#228B22">"I agree"</span>, and <span style="color:#228B22">"Click here to proceed"</span>. Wait for the 162 MB file to download (it's called <span style="color:#1E90FF">''naoqi-sdk-1.10.10-linux.tar.gz''</span>). Extract its contents, and it will spawn a directory named <span style="color:#FF8C00">''naoqi-sdk-1.10.10-linux/''</span>. Move it to the location you like most.
@@ Line 49: / Line 49: @@
 Programming for Nao focuses around modules. There are several default modules available that provide many utilities, like ALMotion (for moving the robot), ALMemory (for safe data storage and interchange), or ALLogger, which is used in the Helloworld example for message output. And of course, you can create your own. Modules communicate between themselves using proxies. A proxy is nothing more than an object that lets you call functions from other modules, passing parameters and such.
-[[Image:Brokers_and_modules.jpg|thumb|none|600px|Graph that shows how brokers and modules work internally.]]
+[[Image:Brokers_and_modules.jpg|thumb|none|700px|Graph that shows how brokers and modules work internally.]]
 The other important concept is the broker. A broker is an executable that runs in the robot, listening on a given port for incoming commands (like a server). Brokers can load a list of modules at startup, and then manage the communication procedure. By default, the robot starts a broker called "MainBroker" that listens on port 9559, and loads the list of modules found in <span style="color:#1E90FF">''autoload.ini''</span>. You can create your own broker as well.
@@ Line 203: / Line 203: @@
 <geshi lang=Bash lines=0>ccmake .</geshi>
-[[Image:Ccmake_GUI.jpg|thumb|none|600px|Interface of ''ccmake''.]]
+[[Image:Ccmake_GUI.jpg|thumb|none|700px|Interface of ''ccmake''.]]
 You can change a lot of options here. For example, <span style="color:#FF1493">"MYTESTPROJECT_IS_REMOTE"</span> controls whether or not your example is compiled as a dynamic library, or as an executable (defaults to the first). When you are done, press <span style="color:#228B22">'''C'''</span> to configure and <span style="color:#228B22">'''G'''</span> to generate and exit the tool. The rest is easy: