Requirements

Linux:

• Install the latest Ubuntu 32-bit LTS including all updates
• Follow the instructions here to add and verify your ssh key and link your Github account.

Packages:

• Install the following packages using a package manager or sudo apt-get install

  git cmake cmake-qt-gui libboost-all-dev libtinyxml-dev qt4-designer
  

  Note: OpenCV is required only for Tools.

Kouretes Monas:

• Create a folder Kouretes in $HOME (or use a folder of your choice)

• Inside the folder Kouretes clone Monas by running:

  git clone https://github.com/kouretes/Monas.git
  

• Folder Monas should appear inside folder Kouretes.

Note: Alternatively you can unpack the file Monas.zip (obtained from Github) inside folder Kouretes.

Google Protobuf (You can skip this one, for reference only):

• In folder /external/protobuf run:

  ./configure
  make
  

• In folder /src/messages run:

  ./../../external/protobuf/src/protoc --cpp_out=. *.proto
  

Building and Linking (for local execution):

• Navigate to Kouretes/Monas/make and create a folder local.

• Inside the folder local run cmake-gui

  • Source path: $HOME/Kouretes/Monas
  • Build path: $HOME/Kouretes/Monas/make/local
  • Press Configure
  • Choose generator "Unix Makefiles"
  • Choose "Use default native compilers"
  • Press Finish
  • Change TargetPlatform to linux
  • Change TargetRobot to host
  • Press Configure and repeat until everything is resolved
  • Install missing packages if necessary
  • Press Configure and repeat until everything is resolved
  • Press Generate
  • Exit

• Inside the folder local run make -j4 install (change 4 to your number of CPU cores).

• Go get a coffee and be patient...

• Enter binaries/linux and run:

  export LD_LIBRARY_PATH=./lib
  ./bin/Monas
  

• WARNING: Remove (comment out) from the agent.xml file all activities that won't compile when target is linux e.g., Vision, MotionController, etc.

Crossbuild (for on-board execution):

• Unpack the latest nao-cross-toolchain-XX.YY.ZZ.tar.gz to folder Kouretes/nao-cross-toolchain-XX.YY.ZZ

• Navigate to Kouretes/Monas/make and create a folder cross

• Inside the folder cross run cmake-gui

  • Source path: $HOME/Kouretes/Monas
  • Build path: $HOME/Kouretes/Monas/make/cross
  • Press Configure
  • Choose generator "Unix Makefiles"
  • Choose "Specify toolchain file for cross-compiling"
  • Press Next
  • Toolchain path: $HOME/Kouretes/nao-cross-toolchain-XX.YY.ZZ/toolchain-geode.cmake
  • Press Finish
  • Change TargetPlatform to linux
  • Change TargetRobot to nao
  • Press Configure and repeat until everything is resolved
  • Install missing packages if necessary
  • Press Configure and repeat until everything is resolved
  • Press Generate
  • Exit

• Inside the folder cross run make -j4 install (change 4 to your number of CPU cores)

• Get another coffee and be even more patient...

Use the python scripts in the script directory to upload code to a robot. To do so, you need a valid config directory in /home/nao/naoqi/ (on the robot) and a valid autoload.ini script in /home/nao/naoqi/preferences/autoload.ini (on the robot). These are required to start the krobot module.

Flash Disk Format:

• Lookup /media/<user>/OpenNao-system/usr/share/opennao/core-version.txt to find the current NaoQi version on your USB.

• Unpack NaoQi SDK naoqi-sdk-XX.YY.ZZ-linux.tar.gz

• Flash Nao USB Keys using NaoQi XX.YY.ZZ.

• Instructions in $SDK/doc/site_en/reddoc/software_update/flash_process.html.

• Basically you run:

  sudo $SDK/bin/flash-usbstick nao-system-image-robocup-XX.YY.ZZ.gz