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Welcome to the rUNSWift 2010 git repository.

The directory sturcture is:

    This is where any executables are stored, such as configuration scripts
    The contents of this directory are copied onto Nao memory sticks when
    you image them, put custom configuration files or libraries here
    This is the source code for the rUNSWift 2010 broker, in theory it should
    know how to play soccer.
    This is the source code for any off-nao utilities, such as colour
    calibration or offline debugging utilities.

Follow these steps to get the robot code up and running on your Nao:

Note thesee instructions have been tested on various recent versions of Ubuntu and Debian Linux. Microsoft Windows and Mac OS X are not supported.

h2. General setup 

* clone a copy of the git repository
 * git clone git:// runswift2010
 * cd runswift2010 
 * git config --global "Your Name" 
 * git config --global "yourname@yourdomain" 
* set an environment variable, RUNSWIFT_CHECKOUT_DIR, to the location of your git checkout 
 * echo export RUNSWIFT_CHECKOUT_DIR=`pwd` >> ~/.bashrc 
* add $RUNSWIFT_CHECKOUT_DIR/bin to your path 
 * echo export PATH=\$RUNSWIFT_CHECKOUT_DIR/bin:\$PATH >> ~/.bashrc 
* download the latest aldebaran-sdk and ctc-robocup from
* set an environment variable, AL_DIR, to the location you extracted aldebaran-sdk 
* set an environment variable, CTC_DIR, to the location you extracted ctc-robocup 
* add your ssh key to $RUNSWIFT_CHECKOUT_DIR/image/root/.ssh/authorized_keys AND $RUNSWIFT_CHECKOUT_DIR/image/home/nao/.ssh/authorized_keys 
 * if you don't have an ssh key locally, make one with 'ssh-keygen -t rsa' 

h2. Compiling and running our code 

To get the rUNSWift code to compile, follow these steps: 

* $ sudo apt-get install build-essential libqglviewer-qt4-dev qt4-dev-tools cmake git-core libqwt5-qt4-dev 
* $ mkdir build; cd build 
* $ cmake .. -DCMAKE_TOOLCHAIN_FILE=$CTC_DIR/toolchain-geode.cmake 
* $ make 

Note, there are a few libraries you will need, including the qt4 toolkit, boost, and libfreetype (you could just install things as you see linker errors pop up :)) 

In the future you can just go to $RUNSWIFT_CHECKOUT_DIR/robot/build and type 'make' to compile changes, you don't need to run 'cmake' again. 

To upload your code to the robot, use the 'nao_sync' script, found in the 'bin' directory of the repository. 

To run the code, ssh into the robot and check that naoqi is running (you may need to restart naoqi if you have updated libagent), then type 

* $ runswift 

Or, tap the robot's chest 3 times quickly to start runswift without having an ssh connection to the robot.

To compile Off-Nao, follow these steps: 

* $ cd $RUNSWIFT_CHECKOUT_DIR/utils/offnao 
* $ mkdir build; cd build 
* $ cmake .. #ignore the CMake Warning at CMakeLists.txt:131 (ADD_EXECUTABLE) 
* $ make 
 * *Note:* If you are not running Ubuntu Karmic with libqglviewer-qt4-dev 2.3.1, you will get a compilation error saying 'qglviewer-qt4/qglviewer.h: No such file or directory'. A dodgy workaround is to create a link to the QGLViewer directory: 
 ** sudo ln -s /usr/include/QGLViewer /usr/include/qglviewer-qt4 

h2. Setting up a robot 

A new robot from Aldebaran should already contain a memory stick with the latest OpenNao image. Otherwise, upload an image to ~/image on the robot, login, and run: 

nao-autoflash ~/image/imagename 

* Plug an ethernet cable into the Nao, and turn it on. 
* Go to http://nao.local, login with nao:nao 
* In the 'Network' tab, connect to your local wireless network 
* In the 'Settings' tab, set the robot's name, password, buddy icon, time zone 
* Do a nao_sync -s to configure the robot for use with nao_sync 
* Reboot the Nao
* Do a nao_sync -ar to upload the latest software and home directory


UNSW's RoboCup Standard Platform League Team







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