DNT-Introduction

Introduction for the Dutch Nao Team: learn how to program robots to play football. If you have any problems with installing or the code, please email me ([email protected]). The complete_code folder contains the complete code to let a robot play football. In template_code the functions exists, but are not filled. In DNT_Introduction.pdf a introduction to our team and how to use this code is given.

After installing all requirements, please check if everything is working correctly by compiling the code in complete_code. If this doesn't work, checkout trouble shooting below, or ask me for help.

Requirements:

• Naoqi

  • Go to https://community.ald.softbankrobotics.com/en/resources/software/language/en-gb and ask one of the current team members for the login credentials.
    If you are using a V5 robot, download for your OS:
    [FORMER NAO VERSIONS] - Python NAOqi SDK for Python.
    [FORMER NAO VERSIONS] - C++ NAOqi SDK for C++.
    When using a V6 download for your OS:
    [NAO V6 ONLY] - SDKs and documentation 2.8.3
  • For Python check http://doc.aldebaran.com/2-1/dev/python/install_guide.html for how to install
  • NOTE: If you get linking errors, please ask one of our team members for a working SDK or email me.
  • For C++ check http://doc.aldebaran.com/2-1/dev/cpp/install_guide.html
    • NOTE: We want to use our own OpenCV and not the one from Naoqi, so after installing OpenCV (next step) http://doc.aldebaran.com/2-4/dev/cpp/examples/vision/opencv.html:
      • Once you have OpenCV installed for your system, you have to remove it from the SDK. Do not remove the CMake configuration files.
      • Remove all OpenCV libraries from the lib/ directory of the SDK. They will have the following format: libopencv_modulename.so, libcv.so, libhighui.so and libml.so
      • Remove the opencv folder from the include folder

• OpenCV

  • Please google yourself how to install it for your OS.

• NumPy

  • pip install numpy.

Compile cpp code with naoqi:

• In the same folder as CMakeLists.txt
  • A file qiproject.xml should exist
  • qibuild init
  • qibuild add-config mytoolchain -t mytoolchain --default, where mytoolchain is the name of the toolchain you created at installing the sdk for cpp
  • qibuild configure
  • qibuild make

Trouble shooting

• If you get an error with cv::HOUGH_LINES change the lines 65 and 99 in orangeball.cpp to the line that are commented above it.

• If you get undefined reference to something related to Naoqi (for example undefined reference to qi::log::log) use g++-4.8.

• If you get undefined reference to something related to OpenCV (for example undefined reference to cv::imread) you probably have some linking problems with opencv. Please try to compile the opencv_test/ code to see if you have the same problem with that code. (https://docs.opencv.org/2.4/doc/tutorials/introduction/linux_gcc_cmake/linux_gcc_cmake.html)
  In opencv_test:

  • mkdir build
  • cd build/
  • cmake ..
  • make
  • ./DisplayImage ../../../../img/1.jpg

  If you have problems using that code, your opencv is not installed or linked correctly, otherwise the combination with Naoqi and OpenCV is not working correctly.

• If you get an error about the fallmanager when you try the kick, try: http://doc.aldebaran.com/2-1/naoqi/motion/reflexes-fall-manager.html