Railbot

Railbot is a open-source software for biped robot control, especially, for NAO robot. If you are interested in robot motion control, use this code as you wish. Any problem, please contact with us. email: ziihan_xu@163.com

Flash

You must flash the NAO robot to the robocup version first and unlock the root permission. More details see bhuman wiki.

Requirments

• CMake >= 3.6
• libeigen3-dev
• libboost1.71-dev
• libboost-system1.71-dev
• eigen-quadprog

Linked Libraries

Copy the library files form your pc to the same path on NAO robot. You can use ldd command to check the detailed path information of the excutable files. we need:

• -leigen-quadprog
• -lboost_system

Build

Build this program on your PC and no need to complie on the robot. We build our code on Ubuntu20.04, PC. Use the Make.sh script to build the project. This scrip will automaticly make directories Build and Bin. After the build process, you can find the excutable files, lola_conn and controller, in Bin.

Run

Copy the lola_conn and controller to NAO home path, usually /home/nao, lola_conn and controller need to be run simultaneously. We recommend that run lola_conn first and then run controller.

If the program does not work property, use ldd to check the linked libraries, you will see the following, the outputs maybe different depend on your setup. Find the missing library files and copy them from your PC. That's why we use Ubuntu20.04 to build our program. If you use other version of Linux system, the library files maybe different and may not work as well.

ldd controller 
	linux-vdso.so.1 (0x00007ffc5f781000)
	libeigen-quadprog.so.1 => /usr/local/lib/libeigen-quadprog.so.1 (0x00007fc03b5fc000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fc03b5ae000)
	libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fc03b3cc000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fc03b27d000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fc03b262000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fc03b23f000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fc03b04b000)
	/lib64/ld-linux-x86-64.so.2 (0x00007fc03b639000)

ldd lola_conn 
	linux-vdso.so.1 (0x00007ffe82fc0000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007fab7a095000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007fab7a08b000)
	libstdc++.so.6 => /lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007fab79ea9000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007fab79e8e000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007fab79c9c000)
	/lib64/ld-linux-x86-64.so.2 (0x00007fab7a0fe000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007fab79b4d000)