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The Northern Bites' code base for RoboCup soccer competition on the Aldebaran Nao, Standard Platform League
C++ Python R Other
branch: master
Failed to load latest commit information. changing default color table
cmake updating location to master
comm Implemented Bill Silver's pointer optimizations in Thresholding loop.…
corpus fixed IP fetching
frames fixes grab script to set correct permissions
include updating location to master
motion working goalie
noggin tweaked pBrunswick to do the around the ball less
scripts Added scripts folder and the setup-autologin script for setting up au…
tables Added diffing ability to sync scripts.
vision fixes print statement chown left on
.gitignore Merge branch 'cleanups' into lines
.gitmodules added 'tables' submodule
COPYING added the texts of the GPLv3 and LGPLv3
COPYING.LESSER added the texts of the GPLv3 and LGPLv3
Doxyfile Fixed Doxygen to correctly display repository name.
Makefile Merge commit 'refs/remotes/northern-bites/master'
Man.cpp Made a few minor profiling and nanosleep changes.
Man.h Actually setup the _lights python module. Also moved …
README.txt README spell checking and updating.
TMan.cpp Threaded Leds into Man. Fixed led names. Started work on color manipu…
TMan.h Threaded Leds into Man. Fixed led names. Started work on color manipu… Merge commit 'refs/remotes/northern-bites/master'
TTMan.cpp Threaded Leds into Man. Fixed led names. Started work on color manipu…
TTMan.h Threaded Leds into Man. Fixed led names. Started work on color manipu… man - reorganized Python packages and imports
manmodule.cpp Removed vestiges of old LED code
manmodule.h Split Man into two files, bound methods for NaoQi1.0 compatability
nao_soccer_player.cpp Threaded Leds into Man. Fixed led names. Started work on color manipu…
searchman Fixed small bug in searchman



In order to compile the man binaries, you must first have the NaoQI libraries  and associated cross compiler installed on your machine. These libraries are the property of Aldebaran Robotics, but are mirrored on our server for those with a Bowdoin login. You may contact Aldebaran for the libraries.

 The default configuration is to install to /usr/local/nao.

NOTE: The given commands should be executed from the directory where you downloaded the archives. Also, depending on your system setup, you may need root privileges to install to /usr/local/nao

First, get the NaoQI libraries by retrieving the file <>. You should then extract the contents to /usr/local/nao (i.e. there should be a file /usr/local/nao/Release-notes.txt)

	sudo tar -xvzf NaoQiRobocup-1.2.0-Linux.tar.gz -C /usr/local

If the directory /usr/local/nao already exists you should move it first

        sudo mv /usr/local/nao /usr/local/nao-old

Then you should move the NaoQi directory to /usr/local/nao

	sudo mv /usr/local/NaoQiRobocup-1.2.0-Linux /usr/local/nao

You will also need the cross compiler, so start by creating its directory:

	sudo mkdir /usr/local/nao/crosstoolchain

Next, the new (1.0) cross tool chain is available from <>

Double check to make sure you have folders named 'cross' and 'staging' in $AL_DIR/crosstoolchain

Download the Northern Bites Nao tools from

Extract the archive using the following command:

tar -xvvjf darwin-nao-1.2.tar.bz2

NOTE: if you currently have /usr/local/nao you should move it with the following command if you do not want to lose the contents:

sudo mv /usr/local/nao /usr/local/nao-old

Now move the archive to /usr/local/nao:

sudo mv ./nao-darwin /usr/local/nao


We use CMake for compiling and installing our code.  It has most of GNU Make's
features along with some other niceties.

How you are going to use the code greatly determines how you should configure
the build.  For most applications you will be compiling code to be run on the
robot.  Thus you want to execute the following commands to cross compile for the
robot's OS.  Do so with the following commands (where $ROBOCUP_HOME is the path
to your robocup directories):

   cd $ROBOCUP_HOME/man
   make cross

This will take you to a configuration screen.  If you want to simply test if
your code compiles, than press c to begin configuration and then press g to
generate the configuration files.

If you are compiling for the robot you should make sure @MAN_IS_REMOTE@ is set
to OFF.  If it is set to OFF, you can change it by moving over the OFF text area
and hitting the enter key.  Here you should also set the appropriate player for
the robot and the IP address. Help for the configuration tool is accessible by
typing h while the tool is running.

Now to compile the code simply run:


If there are errors compiling and you need to change configuration files you can
delete the configuration files and make the code base ready for recompiling via:

   make clean

If you have an error compiling and need to clean your code base, but do not wish
to delete your configuration files you can delete the binaries only by using the

    make cclean

Once you have built the binaries they can be installed on the robot with the
following command:

    make install

Set the IP address of the remote robot on the configuration screen as described above.
Next, ssh into the robot as root and edit the file /opt/naoqi/modules/lib/autoload.ini using `nano autoload.ini`  This file lists all the modules that are loaded by NaoQi on boot time. If you are running as a dynamically linked library, you must ensure that the line
man is present in that list. Additionally, you must disable pythonbridge for the Python to run correctly in our code (if you don't do this, you will get a segfault).

See the directions at

Still having trouble?  Take a look at our wiki at Particularly, the page might give links to more detailed instructions then those shown here.

SIMULATOR (in robostadium contest mode without NaoQi):
	  -angleX and angleY are calculated incorrectly (they are just 0.0)
	  -GameController (i.e. Comm) is not working, so switching into playing is not possible
	  -Use the "webots.mtb" table

 LocalWords:  NaoQI robocup
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