1. Mathis Richter
  2. NaoPlugin





This is a plugin for Cedar, adding support for the Nao robot by Aldebaran.



To get the plugin working, you need to set up both cedar and Naoqi on your system.

Download and compile Cedar (testing) from https://bitbucket.org/cedar/development.

Download the Naoqi SDK, version 1.14.5 for your operating system from the Aldebaran website. You will need to login to the website to get the library.

Extract the file to a folder of your choosing, for example ${HOME}/libs/naoqi.

tar xzf naoqi-sdk-1.14.5-linux64.tar.gz
mv naoqi-sdk-1.14.5-linux64.tar.gz ${HOME}/libs/naoqi

Enter the directory and delete all headers and libraries of both Boost and Qt.

cd ${HOME}/libs/naoqi
rm -r include/boost
rm lib/libQt*
rm lib/libboost*

This is to make sure that these libraries and includes do not interfere with the ones used in cedar. Programs with other libraries used by Naoqi may come up later (e.g. OpenCV), but so far it's working. Make sure that you have versions of Boost and Qt installed that are close to those used by Naoqi (Boost 1.48, Qt 4.8.1). (So far, it works on my system with Boost 1.50 and Qt 4.8.3.)

Building the plugin

Make a copy of the project configuration file

cp project.conf.example project.conf

and edit it, changing the variable CEDAR_HOME to the folder in which your copy of cedar resides.

Similarly, make a copy of CMakeLists.txt.example

cp CMakeLists.txt.example CMakeLists.txt

and modify the NAOQI_PATH and CMAKE_MODULE_PATH to match the locations on your system.

Create a build directory,

mkdir build

change into it,

cd build

and build the plugin.

cmake ..

The compilation will throw a lot of warnings. These are due to some errors in Naoqi itself. Just ignore them, they have been there since the first version of Naoqi I used... If everything compiled without errors, you should be able to load the plugin in the cedar GUI and start working with Nao.