naojure

Clojure wrapper for Aldebaran Robotics java API. Allows a NAO robot to be controlled from clojure and REPL-based experimentation

using the library

The first thing is to make a robot

(def robot (make-robot "IP-ADDRESS-OR-HOSTNAME" 9559))

This creates a map containing information about the robot. You can also request that various proxies are created and added to the map also.

(def robot (make-robot "IP-ADDRESS-OR-HOSTNAME" 9559 :motion :memory :tts))

proxy-classes contains the full list of available symbols to create proxies. Most functions create proxies on-the-fly if the robot map does not have the necessary proxy, however since these are not stored it's more efficient to create proxies up-front for any proxies you know you'll use more than once.

Once you have a robot you can then do actions such as:

(say robot "Hello world")
(wake-up robot)
(walk robot 1.0 0 0)
(get-joint-angles robot)
(sit-relaxed robot)
(relax robot)

Packaging the Aldebaran library

In order to get leiningen to load native dependencies you can pack them into a jar file and install them in a local repository. I create a directory called maven_repository at the top level of a project.

In a staging area I then create the following directory structure

native/
native/linux/
native/linux/x86_64/
native/linux/x86_64/libjnaoqi.so
native/macosx/
native/macosx/x86_64/
native/macosx/x86_64/libjnaoqi.jnilib
native/windows/
native/windows/x86/
native/windows/x86/jnaoqi.dll

I then run the following script to create a jar file containing the native dependencies and depoy both jars to the project's local repository.

#! /bin/bash
REPO=*PATH TO YOUR PROJECT HERE>*/maven_repository

jar -cMf jnaoqi-native-deps-1.14.0.jar native

mvn deploy:deploy-file \
                         -Dfile=jnaoqi-native-deps-1.14.0.jar \
                         -DgroupId=com.aldebaran \
                         -DartifactId=jnaoqi-native-deps \
                         -Dversion=1.14.0 \
                         -Dpackaging=jar \
                         -Durl=file:${REPO}

mvn deploy:deploy-file \
                         -Dfile=jnaoqi-1.14.0.218.jar \
                         -DgroupId=com.aldebaran \
                         -DartifactId=jnaoqi \
                         -Dversion=1.14.0 \
                         -Dpackaging=jar \
                         -Durl=file:${REPO}

Running "lein deps" should then install the java jar and it should then be possible to run "lein repl" and use the Aldebaran classes.