Compiling and Updating Code

Now that you have your development computer and robot (or simulation environment) setup we can compile and run the code. This page will go over how to compile and update the code to use with each robot or simulation.

Grab our code from github

Compiling the Code

The UPennalizers/Lib directory contains all of the library code that you will need to compile. This directory contains all of the platform specific libraries as well as the platform independent libraries. We provide a Makefile that will make compiling the code for your desired platform easy.

From the UPennalizers/Lib directory you will need to run:

make <platform>

where <platform> is the platform from the list below that you are using.

platform	description
setup_webots_nao	Compiles and sets up the code for the Nao Webots simulation
setup_webots_op	Compiles and sets up the code for the DARwIn OP Webots simulation
setup_nao	Compiles and sets up the code to run on the Nao V3.x robot
setup_naov4	Compiles and sets up the code to run on the Nao V4 robot
setup_op	Compiles and sets up the code to run on the DARwIn OP robot

For example, to compile the code to use with the Nao Webots simulator you would run:

make setup_webots_nao

The Makefile will compile all the necessary code for your platform and copy the resulting libraries into the UPennalizers/Player/Lib directory so that they will be available to the main Lua program.

Updating Robot Code

When developing for the actual robots you will need to copy any changes you make onto the robot. This is simply done by replacing the ~/Player directory on the robot with your UPennalizers/Player folder.

We recommend setting up a script using rsync to make pushing changes to your robot easier. Something similar to this:

rsync -avr --exclude=".*" UPennalizers/Player/* [email protected]:Player/

where you replace 'robot' with the name of the platform you are using (ie: 'nao', 'op').

NaoQi

If you are using the Nao robot then you will also have to compile our custom NaoQi module. Note: NaoQi and its preferences are copied onto the with the install script mentioned here.

1. Download NaoQi Atom Cross-Compilation Toolchain from Aldebaran. /path/to/ctc will be used from now on as the path to the extracted cross compilation toolchain.
2. Download and install qiBuild
3. Create qiBuild toolchain for the Nao Atom

qitoolchain create cross-atom /path/to/ctc/toolchain.xml

1. Configure the project

qibuild configure -c cross-atom

1. Build the library

qibuild make -c cross-atom

1. Compile NaoQi

cd UPennalizers/Lib/NaoQi_v1.12
make

1. Copy the compiled libdcmlua.so file onto the Nao:

scp ./build-cross-atom/sdk/lib/naoqi/libdcmlua.so [email protected]:naoqi/lib/naoqi

1. Change the naoqi/preferences/autoload.ini file on the Nao to be:

[core]
albase

[extra]
devicecommunicationmanager
dcmlua

[remote]

1. Restart NaoQi:

nao stop
nao start

You should only need to do this once per robot as we only use NaoQi to provide the access to the actuators and sensors.

##Lua

Included in this release is the source code for the version of Lua used with our code. To compile Lua for the Nao:

cd UPennalizers/Lib/Lua/src
make -f Makefile.cmake

Then copy the './src/build/lua' and './src/build/liblua.so' files to '/usr/local/bin/lua' and '/usr/local/lib/liblua.so' on the Nao.

Note: This files are already copied onto the Nao using the install script discussed here.