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--------------------------------- 2012-5 How to Compile NaoYarp with NaoQi 1.12 + qibuild --------------------------------- qibuild configure -c naoqi-sdk NaoYARP qibuild make -c naoqi-sdk NaoYARP NOTE: [naoqi-sdk] is the sdk name set up beforehand. If you haven't done so try this: qibuild config --wizard qitoolchain create naoqi-sdk ["PATH_TO_PYNAOQI_PYTHON"] qibuild init --------------------------------- 2012-5 Jie --------------------------------- * Created a branch for supporting previous NaoQi 1.10. * The current master trunk supports the latest NaoQi only. * We might find a way to merge two branches in the future. --------------------------------- Information Before 2012.01 --------------------------------- Prerequisites: This project requires YARP and ACE libraries. For remote execution, they can be installed by binary or source as usual, depending on the computer architecture. For on-board execution, the libraries must be cross-compiled for source, using the following procedure. Cross-Compilation procedure (only for on-board execution) - Download ACE source code from http://download.dre.vanderbilt.edu/ - Untar and in root directory create a build folder - Source cross compilation script to set CPP flags appropriately - Execute: "source cross-compile.sh <path_to_naoqi_cross>" - Enter ACE directory - Execute: -export ACE_ROOT=`pwd` -ln -s config-linux.h config.h -cd ../include/makeinclude -ln -s platform_linux.GNU platform_macros.GNU -cd ../../ace - Execute: make - Copy lib/* to nao ~/naoqi/lib folder - Execute: scp lib/* nao@<...>:~/naoqi/lib - Download YARP source code from http://sourceforge.net/projects/yarp0/ - Enter extracted folder - Copy bootstrap.cmake (can be found on AL_DIR/modules/templates/boostrap.cmake.tmpl) - Edit CMakeLists.txt and type just under project(YARP) - include('${CMAKE_CURRENT_SOURCE_DIR}/boostrap.cmake') - Create a build folder - Enter folder build - Execute: cmake -D CMAKE_TOOLCHAIN_FILE=<path-to-naoqi-ctc>/toolchain-geode.cmake .. (error might occur, ignore them!) - Execute: ccmake . - Set ACE_INCLUDE_DIR (should be <full_path_to_ACE_root>/include) - Set ACE_LIBRARY (should be <full_path_to_ACE_root>/lib/libACE.so) - Execute make - Copy lib/* to nao ~/naoqi/lib folder - Execute: scp lib/* nao@<...>:~/naoqi/lib ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Building process for new versions of NaoQi ( >= 1.12 ) -Install qiBuild -Create and enter a directory -Initialize directory with qiBuild -qiBuild init -Set up toolchain -qiToolchain <...> -Create a wrapping project -qiBuild create <pName> -configure the project -qiBuild configure <pName> -Checkout NaoYarp inside the new project README -Copy-Paste CMakeLists.txt and main.cpp from NaoYARP/src/NaoRobot/NaoQi/NaoQi-<vession>/naoyarp_wrap to root directory of project -Build project as usual. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Building process NaoQi's up to 1.10 BUILD (for remote execution) - Create a folder named build - Enter folder build - Execute: cmake -D CMAKE_TOOLCHAIN_FILE=<your-path-to-naoqi-sdk>/toolchain-pc.cmake .. - Execute: ccmake . - Set the path to YARP building directory - Set the NaoQi version appropriately - Check the value of NAOYARP_IS_REMOTE NAOYARP_IS_REMOTE can be OFF (a library is produced) or ON (an executable is produced) - Press c to configure again, then g to generate and exit. - Execute: make -jk, where k is the number of cores in your system. CROSSBUILD (for on-board execution) - Create a folder named crossbuild - Enter folder crossbuild - Execute: cmake -D CMAKE_TOOLCHAIN_FILE=<path-to-naoqi-ctc>/toolchain-geode.cmake .. - Execute: ccmake . - Set the path to YARP building directory - Set the NaoQi version appropriately - Press c to configure - Check the values of KROBOT_IS_REMOTE, NaoQiVersion, RobotPlatform KROBOT_IS_REMOTE can be OFF (a library is produced) or ON (an executable is produced) - Real-time execution for the nao requires the code to be compiled as a shared object at the moment. - Press c to configure again, then g to generate and exit. - Execute: make -jk, where k is the number of cores in your system. ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Documentation In-source documentation is created using Doxygen with input the Doc.dox file Run the created module (it should be under <your-path-to-naoqi-sdk> /bin or /lib on the latest NaoQi versions). Network devices are created automatically! That's all! Enjoy!
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A YARP interface for the Nao robot
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