NaoV4 Setup

In order to run the code on the Nao robot there are a few dependencies that must be installed first.

Unfortunately, due to the way the Nao OS is setup, installing external packages can be tedious. We have provided some scripts to help facilitate the process. This page will go over what these scripts are actually doing and how to use them.

Flash the USB Stick

1. Download the Nao OS Robocup Image from Aldebaran. This release has been tested for version 1.12.5 of the Nao OS. You may also find the Nao SDK and the Nao Cross Compiler tools on the "Nao Documentation and Software" CD-ROM provided from Aldebaran.

2. Use the NaoFlasher utility provided by Aldebaran to copy the image to the USB stick (make sure the "Factory Reset" box is checked).

3. Place the USB stick back into the robot and boot the robot by holding down the chest button until it flashes blue. After it has booted completely shut down the robot and remove the USB stick. (This is done to allow the dual partition system that Aldebaran uses to be setup correctly before we install our software.)

NOTE: You should already have the NaoqiSDK and NaoqiCTC enviornment variables setup on your development computer.

Install Script

In the UPennalizers/Install/naov4 directory there is a script called install_nao.sh. This is a shell script that should work for any Unix based OS. To execute it, first copy the entire contents of the 'UPennalizers/Install/naov4' directory onto a USB flash drive. Boot the Nao normally, then plug in the flash drive. To mount the flash drive on the Nao:

su      (the password is 'root')
mkdir /media/usb
mount -t ext3 /dev/sdb1 /media/usb

Then, to run the install script:

cd /media/usb
./install_nao.sh

IMPORTANT: Do not run this install script on your development workstation!

The script is performing the following actions:

1. Creates the /usr/local directory
2. Copies the contents of /media/usb/dependencies/usr/local into the new /usr/local directory. Including but not limited to:
   • Pre-compiled Lua executable and library files
   • espeak executable.
3. Copies the contents of /media/usb/dependencies/etc into the /etc directory. Including but not limited to:
   • Startup script for the UPennalizers code to /etc/init.d
   • Default ssh configuration files
   • Example wpa_supplicant.conf
4. Copies the remaining contents to /media/usb/dependencies/usr to the /usr directory. Including but not limited to:
   • The screen executables
   • A number of pre-compiled libraries (for Lua, X11, espeak and more)
   • The share directory contents for espeak and X11
5. Removes connman and naopathe from automatically starting on boot.
   • connman is a network configuration program installed by Aldebaran. We recommend doing this and to configure network configuration through the /etc/conf.d/net file as shown here.
   • naopathe is the webpage interface provided by Aldebaran. We have found this to take up a lot of the robots CPU resources and recommend removing it from automatically starting.
6. Finally, you can choose to set up networking on the Nao. If you choose to do so, complete the IP addresses as prompted. This step saves the configuration to the '/etc/conf.d/net' file, and adds the net.eth0 process to rc-update.

Nao Wrists

The Nao get-up routines will only work if the wrists are taped in the correct way.

Tape the wrists so that the seams on the forearm and hand match up, with the palms facing inwards.

When taped, the Nao wrists should look like this (the pictures were taken while all joints were zeroed).

Networking

If you chose not to set up networking with the install script, or if you need to change your initial networking configuration, you may also need to setup the network configuration for your Nao. We recommend following the instructions here for configuring the network interfaces.

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