Naoqi C++ SDK Installation

Prerequisites

Installation IDE

QT Creator is the IDE recommended by SoftBank Robotics.

• Download the installer available here. In my case the file is named qt-opensource-linux-x64-1.6.0-5-online.run.
• Go in the folder where you downloaded the installer of qt-creator and give execute permission with:
  $ chmod a+x qt-opensource-linux-x64-1.6.0-5-online.run
• Run the installer:
  $ ./qt-opensource-linux-x64-1.6.0-5-online.run

Download software

C++ SDK and Cross Toolchain

Download the following packages here or here for Pepper:

• C++ SDK 2.3 Linux 64 (or newier version)

Creation Devtools and workspace folders

• Let’s create now some folders useful for the development with the SDK:
  $ mkdir -p ~/romeo/{devtools,workspace}

NB: This is just a suggestion, you can manage these folders as you prefer.

• Now we can extract the C++ SDK and Cross Toolchain in the devtools folder. Go via terminal in the folder where you downloaded the tools and run:
  $ tar -zxvf naoqi-sdk-2.3.0.14-linux64.tar.gz -C ~/romeo/devtools/

Qibuild

• Open a terminal and install Qibuild with pip: $ pip install qibuild
• If you don’t have pip installed you can install it with: $ sudo apt-get install python-pip
• Now we add the installation location of Qibuild in the PATH. Open the file bashrc: $ gedit ~/.bashrc and in the end of the file add:
  export PATH=${PATH}:${HOME}/.local/bin
• Open a new terminal and check if Qibuild is correctly installed:
  $ qibuild --version
• Now we have to create a qibuild “worktree”. This path will be the root from where qiBuild searches to find the sources of your projects. We can use the folder we created before: ~/romeo/workspace.
  $ cd ~/romeo/workspace And digit:
  $ qibuild init
• Now we can run: $ qibuild config --wizard
  A file will be generated in ~/.config/qi/qibuild.xml. It is shared by all the worktrees you will create. You will be asked to choose a CMake generator, select Unix Makefiles, and to choose a IDE, choose QtCreator (or another if you use a different IDE).

:: Please choose a generator:
> 1 (Unix Makefiles)
:: Please choose an IDE
> 2 (QtCreator)
:: Do you want to use qtcreator from /usr/bin/qtcreator?
> Y (Yes)
:: Found a worktree in /udd/fspindle/soft/romeo/workspace_gantry
:: Do you want to configure settings for this worktree? (y/N)
> y
:: Do you want to use a unique build dir? (mandatory when using Eclipse) (y/N)
> N

• If you see a message like “CMake not found” probably you have to install CMake:
• sudo apt-get update && sudo apt-get install cmake
• We can create, configure and build a new project called “foo”: $ qisrc create foo
  New project initialized in /home/jokla/romeo/workspace/foo $ qibuild configure foo

Current build worktree: /home/jokla/romeo/workspace 
Build type: Debug 
* (1/1) Configuring foo 
-- The C compiler identification is GNU 4.8.2
-- The CXX compiler identification is GNU 4.8.2
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Using qibuild 3.6.2
-- Binary: foo
-- Binary: test_foo
-- Configuring done
-- Generating done
-- Build files have been written to: /home/jokla/romeo/workspace/foo/build-sys-linux-x86_64

$ qibuild make foo

Current build worktree: /home/jokla/romeo/workspace 
Build type: Debug 
* (1/1) Building foo 
Scanning dependencies of target foo
[ 50%] Building CXX object CMakeFiles/foo.dir/main.cpp.o
Linking CXX executable sdk/bin/foo
[ 50%] Built target foo
Scanning dependencies of target test_foo
[100%] Building CXX object CMakeFiles/test_foo.dir/test.cpp.o
Linking CXX executable sdk/bin/test_foo
[100%] Built target test_foo

• We can run the executable of the project “foo”:
  $ cd ~/romeo/workspace/foo/build-sys-linux-x86_64/sdk/bin/foo
  You should see:
  Hello, world

References: link1, link2

Using qibuild with Aldebaran C++ SDKs

• Now we need to create a toolchain (change with your path to the file toolchain.xml you want to use. You will find it in the naoqi-sdk folder):

$ qitoolchain create toolchain_romeo /home/jokla/romeo/devtools/naoqi-sdk-2.3.0.14-linux64/toolchain.xml --default

NB: Instead of toolchain_romeo you can choose the name that you want. You can create also different toolchains.

• If you have a new version of qibuild the procedure is slightly different:

$ qitoolchain create toolchain_romeo /local/soft/naoqi-sdk/naoqi-sdk-2.3.0.14-linux64/toolchain.xml
$ qibuild add-config toolchain_romeo -t toolchain_romeo --defaul

Optional Test:

• Open a terminal and digit:

$ cd ~/romeo/devtools/naoqi-sdk-2.3.0.14-linux64/doc/dev/cpp/examples 
$ qibuild init --interactive

• Now we can configure and build the examples:

$ cd core/helloworld/
$ qibuild configure -c toolchain_romeo  
$ qibuild make -c toolchain_romeo

• You can also build in release mode:

$ qibuild configure --release <project_name>
$ qibuild make --release <project_name>