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NAOqi 2.1 C++ programming examples

These examples may be used to learn how to code the most basic behaviours using the NAOqi 2.1 C++98 programming interface.

The NAOqi 2.1 Application Programming Interface only supports C++98, regardless of the compiler used. All the examples were compiled by the GCC 4.8.2 and cmake 2.8.12 available on the repositories of Ubuntu 14.04, codenamed trusty and tested on a NAOH25V40 robot, a NAO v4 with a complete body including the feet FSRs.

The following examples are included:

  • 01.hello-world-legacy: the most basic hello world example. It uses the legacy methods that allow calling a module without an explicit broker. The robot will use its text to speech module, ALTextToSpeech, to say the classic phrase "Hello, World!".
  • 02.hello-world: a hello world example using an explicit broker. This is the recommended way to call any API-provided module.
  • 03.hello-world-module: a hello world example implemented as a NAOqi 2 module using a broker in its constructor.
  • 04.using-events: an example that exemplifies how to write a module that will react to events posted by other modules on ALMemory using callback functions and an API-provided mutex implementation. All the events that have been subscribed by the module will have their key, value and message printed on the screen.
  • 05.riseup: an example that teaches how to change NAO's posture and to allow current to be sent on all of its motors to wake it up. The example also teaches how to enable useful functions, such as current optimisation, external and self-collision protection, and the defensive stance against damages caused by a frontal fall. The robot will react to the tactile buttons on the top of its head:
    • the front button will cause NAO to wake up, changing its current posture to stand up on its feet and sending current to all motors in order to remain in this position;
    • the middle tactile button will cause NAo to rest, sending it to the standard crouching posture and turning off its motors;
    • the rear tactil will toggle a breathing animation while NAO is awaken.
  • 06.walking: this example uses a state machine to make NAO wake up and walk using a standard gait to its left side and forward. The robot will start moving when the front tactil button on its head is activated, and will stop whenever the middle tactil is touched. This example may not work if your robot has problems with its joints or its feet's force sensitive resistors (FSRs).
  • 07.walking-custom: this example is roughly the same as before, but it makes NAO to walk using a custom gait. It also tolerates robots with problems on their joints or FSRs by checking if the robot has been able to approach the desired posture. This example also uses the NAOqi's abstraction to enable the use of the POSIX sleep or msleep functions.

How to find the examples

  1. Go to Robo Connection repository.
  2. Enter the 03_Robotica/nao-programs/naoqi-2.1/cpp/ directory.
  3. All the examples should be listed and separated by their specific folders.

How to run the examples

  1. Copy the desired example to your qibuild workspace. If you used our scripts, it should be on /home/softex/NAO4/workspace.
  2. Change the directory to the example you wish to run using the cd command.
  3. Configure the project's toolchain. If you used our scripts, the command qibuild configure -c "$NAOQI_CPP_QIBUILD_CONFIG".
  4. Compile the project with qibuild make or qibuild make --rebuild.
  5. Run the compiled program. It will usually be located inside a directory structure such as build-${NAOQI_CPP_QIBUILD_CONFIG}/sdk/bin. Most of the examples use arguments to set up a broker, and their order is usually NAO's broker IPv4 or hostname followed by its listening port, usually 9559.
Última atualização: 2023-11-25
Criado em: 2023-11-25