This is the system that allows you to control Nao locally or remote.

This repo contains a lot of wery ugly solutions. You don't want use it and if you thing otherwise you must have very-very strong reason and very-very strong neural system.

We are the developers which trying to prepare the team of Nao robots for playing football. After expierencing some problems (Nao can't walk stright! wtf, aldebaran?! -_-) we've diceded to develop this 'bicycle'. We are not professionals, so if you think that what you see here is strange, it's normal. You are free to use this code, but try to use minimum of it and don't forget to add link to the authors.

For example, you can write python script like this to set the hardness of motors:

 proxy = xmlrpclib.ServerProxy("http://your.nao.ip:8080")
 proxy.joints.hardness(0.6)

You can make such call in every language with xmlrpc support.

Remember that this can be done only after finishing 7-th step of the installation section.

First of all import xmlrpc:

 import xmlrpclib

Then connect to your robot. This is the example of ip adress, you need to use yours.

 proxy = xmlrpclib.ServerProxy("http://192.168.0.51:8080")

Now you can set the hardness of motors via calling the procedure "hardness" of "joints" module:

 proxy.joints.hardness(0.6)

You can recieve the keys of joints if you want to:

 joints_keys = proxy.joints.keys()

Let's set all the motors positions to the 0.0:

 values = [0.0 for i in range(len(joints_keys))]
 proxy.joints.position(joints_keys, values)

It is also possible to use integer keys instead of strings. You can set the hardness of the desired motors similar way:

 proxy.joints.position([0, 1], [0.5, 0.6])

The creation of this system was motivated by our wish to minimize the usage of Aldebaran's system and bad compatibility of Nao's system with ROS. For example when you are trying to move mototrs by zero angle using aldebaran's system, mototrs will move. Also the cameras were really slow. As you will see in the installation section, we have script that changes ctc structure. It is made to use CMake directly without calling qibuild util for building the project. Also we wanted to refuse the usage of ALValue, because it's slow and we wanted to manage our data manually.

• Network. There are basic classes for creating remote modules and methods. Also there is rpc-server class.

• Naoqi. This is the only naoqi-thing that we are using. It is the noaqi-module that allows you to exchange data with nao's hardware. We were not able to refuse usage of this naoqi-module because we failed to find other way to control nao actuators smoothly and without errors.

• Hardware. There are classes that represents hardware parts of Nao. Cameras for examples. There are represnted classes for controlling Nao locally and remotly.

• Controller. This is where the server and all remote modules starts.

1. You need ctc installed on your system. Go to the aldebaran's site and download 32-bit or 64-bit version according to your system, if you haven't already: Aldebaran's site
2. Extract it wherever you like. Let it be the folder ~/ctc for example.
3. Now you need to install new drivers provided by BHuman. Follow their instructions here.
4. You need qibuild installed on your system. To install, use:

$ sudo pip install qibuild

5. Clone this repository:

$ git clone https://github.com/arssivka/naomech

6. Copy the script ctc_restructurer.sh to your ctc folder and run it. This is done to provide the work of CMake without qibuild.

$ bash path/to/ctc/ctc_restructurer.sh

7. Connect to your Nao via ssh and create folder naomech:

$ ssh nao@your.nao.ip
$ mkdir naomech

8. Now you can build the project. For that you can run the script naomech/tools/scripts/install.sh with parameters:

• --ip IP of your Nao
• --sources-path Path to source files
• -b Path where project will be built
• -i Path where project will be installed
• --ctc Path to your ctc

$ bash tools/scripts/install.sh --ip ip.of.your.nao --sources-path /path/to/naomech/ -b /path/to/build/ -i /path/to/install/ --ctc /path/to/ctc/

This script will also copy all the needed files to the robot. Note: if you have any idea how to improve this, feel free to share that idea with us! ;)

9. Connect to your Nao via ssh:

$ ssh nao@your.nao.ip

Create file /home/nao/.profile with the following content:

export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/home/nao/naomech/lib

Also add following

/home/nao/naomech/lib/libhwcontroller.so

to the file /home/nao/naoqi/preferences/autoload.ini

Restart the nao. Now you can run the system.

$ ./home/nao/naomech/bin/controller

If everything is ok, you will see something like this:

[I] 8529 qimessaging.session: Session listener created on tcp://0.0.0.0:0
[I] 8529 qimessaging.transportserver: TransportServer will listen on: tcp://127.0.0.1:47123
[I] 8529 qimessaging.transportserver: TransportServer will listen on: tcp://192.168.0.8:47123

• XML-RPC For providing the remote control
• BHumanKernel - new drivers

This project is under BSD license. See license file for details.

Project is still under development. A lot of fixes and changes can be done at any time. Maybe the new project can appear here O_o (doubtful, but still...) Documentation will be added soon.