PyRIDE Documentation

PyRIDE, Python based Robot Interactive Development Environment, is a software development framework for rapid robot behaviour programming in Python scripting language. It is also an integration framework for bring disparate robot functional modules together. This documentation gives a detailed description of application programming interface of PyRIDE on NAO robot.

To compile PyRIDE for NAO

Prerequisites

PyRIDE on NAO uses the qibuild system(v3.11.6). It requires a full NAOQi SDK(v2.1.4) installation with associated cross compiler on a Linux/OS X system. The respository contains all required third party libraries modified to compile under qibuild system.

To compile PyRIDE for NAO

1. Get source code: git clone https://github.com/uts-magic-lab/pyride_nao.git under a src directory.
2. Compile and install the following modules under libsrc subdirectory using qibuild and qitoolchain commands (see qibuild documentation for the details).
   • commoncpp2-1.8.1
   • ccrtp-1.7.2
   • celt-0.11.1
   • PyRideCore
3. Compile PyNaoServer using qibuild.

To install PyRIDE on NAO

Under a NAO terminal (using ssh), copy the following share library objects extracted from the packages (or copy directly from the build-cross-geode-release/sdk/lib sub-directory under the source directories) built in the previous section to /usr/lib directory on the robot. You will require root privilege to copy these files on the robot.

• libccext2.so
• libccrtp.so
• libccgnu2.so
• libcelt.so
• libpyridecore.so

Place libpynaoserver.so extracted from the PyNaoServer under /home/nao/naoqi/lib on the NAO robot. Similarly, copy the entire scripts under the repository to /home/nao/naoqi/lib and rename the directory to python.

Create an autoload.ini file under /home/nao/naoqi/preference with the following content:

# autoload.ini
#
# Use this file to list the cross-compiled modules that you wish to load.
# You must specify the full path to the module, python module or program.

[user]
#the/full/path/to/your/liblibraryname.so  # load liblibraryname.so
/home/nao/naoqi/lib/libpynaoserver.so

[python]
#the/full/path/to/your/python_module.py   # load python_module.py

[program]
#the/full/path/to/your/program            # load program

autoload.ini will automatically load PyNaoServer when NaoQi starts.

NOTE: PyRIDE configuration file pyrideconfig.xml will be automatically generated under /home/nao/naoqi/preference when PyRIDE for NAO is successfully run and properly shutdown. As older NaoQi systems do not properly shutdown PyRIDE module when shutting down the robot by pressing the centre button, you may have to call PyNAO.saveConfiguration command to save important configuration, e.g. remote user access account, periodically.

Code API

PyNAO