Python based Robot Interactive Development Environment (PyRIDE) for NAO

Introduction

This repository contains PyRIDE for Aldebaran NAO robots. For more detailed introduction on PyRIDE, see README of PyRIDE for ROS/PR2.

WARNING: This version of PyRIDE is compatible with NaoQi SDK version 2.1.4 and below. It requires code updates to be compatible with later version of NaoQi SDK.

Compile source code

Prerequisites

You need NaoQi SDK 2.1.4 with the corresponding cross compiler toolchain installed on your system. You will also need qibuild 3.11.x build system installed.

Source code structure

PyRIDE for NAO is dependent on several open source third-party libraries. Since there is no prebuild library binaries, this repository contains modified source code of these libraries so that you can build and install them manually on your NAO robots. In addition, PyRIDE on NAO has been partitioned into two components: PyRideCore and PyNaoServer. PyRideCore contains core functionalities that are available to all supported robot platforms. PyNaoServer contains code that is specific to the NAO robot platform. Third-party libraries and PyRideCore are under libsrc directory. PyNaoServer is located under PyNaoServer directory. scripts contains default example Python scripts that run on PyRIDE for NAO.

Compile procedures

Assume you have placed PyRIDE for NAO source code under a working qibuild worktree and you have a working cross compiler toolchain cross-atom, use the following command to build libraries using qibuild build system.

qibuild package -c cross-atom -DOLD_NAO=ON --release

To install the compiled library package, e.g. commoncpp2, on local machine:

qitoolchain add-package -c cross-atom ../../../package/commoncpp2-cross-atom.zip

You will need to compile code in the following sequence:

• crypto (openssl)
• commoncpp2-1.8.1
• celt-0.11.1
• ccrtp-1.7.2
• pyridecore
• PyNaoServer

Manual binary installation

Under a Pepper terminal (using ssh), copy the following shared library objects extracted from the packages (or copy directly from the build-cross-atom-release/sdk/lib subdirectory under the source directories) built in the previous section to /home/nao/naoqi/lib directory on the robot.

• libcrypto.so
• libccext2.so
• libccrtp.so
• libccgnu2.so
• libcelt.so
• libpyridecore.so
• libpynaoserver.so

Create an autoload.ini file under /home/nao/naoqi/preference with the following content:

# autoload.ini
#
# Use this file to list the cross-compiled modules that you wish to load.
# You must specify the full path to the module, python module or program.

[user]
#the/full/path/to/your/liblibraryname.so  # load liblibraryname.so
/home/nao/naoqi/lib/libpynaoserver.so

[python]
#the/full/path/to/your/python_module.py   # load python_module.py

[program]
#the/full/path/to/your/program            # load program

autoload.ini will automatically load PyNaoServer when NaoQi starts.

NOTE: PyRIDE configuration file pyrideconfig.xml will be automatically generated under /home/nao/naoqi/preference when PyRIDE for NAO is successfully run and properly shutdown. As older NaoQi systems do not properly shutdown PyRIDE module when shutting down the robot by pressing the centre button, you may have to call PyNAO.saveConfiguration command to save important configuration, e.g. remote user access account, periodically.

Using PyRIDE for NAO

Check PyRIDE for ROS/PR2 README for the details on how to access embedded Python engine, remote client access. Check PyRIDE API documentation for NAO for the details on the available Python methods for NAO.