B-human2013：Nao机器人赛事技术文档

Nao机器人

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“B-human2013是关于Nao机器人在B-human赛事中的技术文档，主要涉及团队介绍、代码下载与构建、以及NAO机器人的设置。这份文档更新至2013年12月30日，为读者提供了从入门到实践的详细步骤。” 在B-human2013赛事中，Nao机器人被用于展示其在人工智能领域的先进能力，尤其是视觉处理技术。Nao是由SoftBank Robotics（原Aldebaran Robotics）开发的一款人形机器人，具有高精度的运动控制、复杂的感知系统和强大的软件平台，使其能够参与足球比赛等复杂任务。文档首先介绍了团队背景，包括来自德国人工智能研究中心和不莱梅大学的研究人员。文档的主要目的是为读者提供关于如何参与B-human赛事的指导，特别是如何使用Nao机器人及其配套软件。文档的“Getting Started”章节详细阐述了如何开始使用B-human2013的代码。下载部分提到了代码获取的途径，这可能包括从团队的官方网站或其他公开资源获取。接下来，文档列出了在不同操作系统（Windows、macOS和Linux）上构建和编译代码的步骤。每个操作系统都有其特定的所需软件，如Visual Studio for Windows，Xcode for macOS，以及Linux Shell下的编译工具。对于NAO机器人的设置，文档详细说明了必要的前提条件，比如确保拥有一个适配的机器人版本和正确的软件配置。创建机器人配置涉及设定机器人的硬件参数和软件配置，以适应比赛需求。此外，文档还讨论了无线管理，这对于在比赛中有效地远程控制和通信至关重要。在实际应用中，Nao机器人的视觉功能是其核心竞争力之一。通过集成的摄像头和图像处理算法，Nao能识别球、队友和对手，进行环境感知和决策。这些技术包括目标检测、追踪、姿态估计以及运动规划，都是机器人足球比赛中必不可少的能力。 B-human2013文档是深入理解Nao机器人在复杂竞技环境下运作的关键资源，涵盖了从代码管理到实际操作的全过程，为研究者和开发者提供了宝贵的参考资料，帮助他们掌握和提升Nao机器人的智能行为和视觉处理能力。

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B-Human 2013 2.3. BUILDING THE CODE

the IP address used will be provided as default. In addition, the option -r is provided by

default that will restart the software on the NAO after it was deployed. Both the IP address

selected and the options speciﬁed are remembered for the next use of the deploy dialog. The IP

address is stored in the ﬁle Conﬁg/Scenes/connect.con that is also written by the login script and

used by the RemoteRobot simulator scene. The options are stored in Make/MacOS/copyﬁles-

options.txt. A special option is -a: If it is speciﬁed, the deploy dialog is not shown anymore in

the future. Instead, the previous settings will be reused, i. e. building the code will automatically

deploy it without any questions asked. To get the dialog back, hold down the key Shift at the

time the dialog would normally appear.

2.3.4 Linux Shell

The following has been tested and works on Ubuntu 13.04. It should also work on other Linux

distributions; however, diﬀerent or additional packages may be needed.

2.3.4.1 Required Software

Requirements (listed by common package names) for Ubuntu 13.04:

• clang ≥ 3.2

• qt4-dev-tools

• libglew-dev

• libxml2-dev

• graphviz – Optional, for generating module graphs and the behavior graph.

• alcommon – For the extraction of the required alcommon library and compatible

boost headers from the NAOqi C++ SDK 1.14.5 for Linux 32 bits (naoqi-sdk-1.14.5-

linux32.tar.gz) the script Install/installAlcommon can be used, which is delivered with

the B-Human software. The required package has to be downloaded manually and handed

over to the script. It is available at https://community.aldebaran-robotics.com (ac-

count required). Please note that this package is only required to compile the code for the

actual NAO robot.

On Ubuntu 13.04 you can execute the following command to install all requirements except for

alcommon:

sudo apt - get install qt4 -dev -tools libglew - dev libxml2 - dev clang gra ph vi z

2.3.4.2 Compiling

To compile one of the components described in Section 2.2 (except Copyﬁles), simply select

Make/Linux as the current working directory and type:

make <component > [ CONFI G =< configu ration >]

To clean up the whole solution, use:

make clean [ CONFIG =< configur ation >]

2.4. SETTING UP THE NAO B-Human 2013

As an alternative, there is also support for the integrated development environments NetBeans

and CodeLite that work similar to Visual Studio for Windows (cf. Sect. 2.3.2.2).

To use CodeLite, execute Make/LinuxCodeLite/generate and open the B-Human.workspace

afterwards. Note that CodeLite 5.x is required to open the workspace generated. Older versions

might crash.

To use NetBeans, extract Make/LinuxNetBeans/B-Human.tar.gz to Make/LinuxNetBeans. It

contains a project folder that can be opened using NetBeans.

2.4 Setting Up the NAO

2.4.1 Requirements

First of all, download the current version of the NAO System Image 1.14.5 for NAO 4 (In-

tel Atom) and the Flash USB Stick 1.12.5 from the download area of https://community.

aldebaran-robotics.com (account required). In order to ﬂash the robot, you furthermore

need a USB ﬂash drive having at least 2 GB space and a network cable.

To use the scripts in the directory Install, the following tools are required

sed, scp, sshpass.

Each script will check its own requirements and will terminate with an error message if a required

tool is not found.

The commands in this chapter are shell commands. They should be executed inside a Unix

shell. On Windows, you must use the Cygwin Terminal to execute the commands. All shell

commands should be executed from the Install directory.

2.4.2 Creating a Robot Conﬁguration

Before you start to set up the NAO, you need to create conﬁguration ﬁles for each robot you

want to set up. To create a robot conﬁguration, run createRobot. The script expects a team id,

a robot id, and a robot name. The team id is usually equal to your team number conﬁgured in

Conﬁg/settings.cfg, but you can use any number between 1 and 254. The given team id is used

as third part of the IPv4 address of the robot on both interfaces LAN and WLAN. All robots

playing in the same team need the same team id to be able to communicate with each other.

The robot id is the last part of the IP address and must be unique for each team id. The robot

name is used as host name in the NAO operating system and is saved in the chestboard of the

NAO as BodyNickname.

Before creating your ﬁrst robot conﬁguration, check whether the network conﬁguration template

ﬁles wireless and wired in Install/Network and default in Install/Network/Proﬁles match the

requirements of your local network conﬁguration.

Here is an example for creating a new set of conﬁguration ﬁles for a robot named Penny in team

three with IP xxx.xxx.3.25:

./ creat eRobo t -t 3 -r 25 Penny

Help for createRobot is available using the option -h.

In the unlikely case that they are missing in a Linux distribution, execute sudo apt-get install sed scp sshpass.

On Windows and OS X, they are already installed at this point.

B-Human 2013 2.4. SETTING UP THE NAO

Running createRobot creates all needed ﬁles to install the robot. This script also creates a robot

directory in Conﬁg/Robots.

2.4.3 Managing Wireless Conﬁgurations

All wireless conﬁgurations are stored in Install/Network/Proﬁles. Additional conﬁgurations

must be placed here and will be installed alongside the default conﬁguration. After the setup will

be completed, the NAO will always load the default conﬁguration, when booting the operating

system.

You can later switch between diﬀerent conﬁgurations by calling the script setproﬁle on the NAO,

which overwrites the default conﬁguration.

setp ro file SPL_A

setp ro file Home

2.4.4 Setup

After the robot speciﬁc conﬁguration ﬁles were created (cf. Sect. 2.4.2 and Sect. 2.4.3) plug in

your USB ﬂash drive and start the NAO ﬂasher tool

. Select the opennao-atom-system-image-

1.14.5.opn and your USB ﬂash drive. Enable “Factory reset” and click on the write button.

After the USB ﬂash drive has been ﬂashed, plug it into the NAO and press the chest button for

about 5 seconds. Afterwards the NAO will automatically install NAO OS and reboot. While

installing the basic operating system, connect your computer to the robot using the network

cable and conﬁgure your IP address with 169.254.220.1/24

. Once the reboot is ﬁnished, the

NAO will do its usual Aldebaran wake up procedure.

Unfortunately, copying ﬁles to the NAO using scp freezes the robot’s operating system from

time to time. Therefore, it is necessary to use the USB ﬂash drive to handle the installation of

the B-Human basic system. For more information have a look at Appendix B.

Unplug the USB ﬂash drive from the NAO. Format this USB ﬂash drive or another one using the

FAT32 ﬁlesystem. Afterwards mount the USB ﬂash drive and use the installRobot.usb script.

The script takes the three parameters name, address, and path. Name is the name of the robot

you have just conﬁgured in Section 2.4.2. Address is the IP address of the robot you obtain

when pressing the chest button of the NAO. Path is the root path of your mounted USB ﬂash

drive. On Windows, use /cygdrive/<driveletter> to specify the drive.

For example run:

./ ins tallR obo t . usb Penny 169 .25 4.2 20. 18 / media / usb

When running installRobot.usb, it will check whether your computer is connected to the robot

properly. If it is not, make sure that the network cable is plugged in correctly and restart the

NAO by holding the chest button for a few seconds.

Follow the instructions inside the shell. After the installation has ﬁnished, the NAO will be

restarted automatically. You should now be able to ping the robot using the IP address you

conﬁgured in Section 2.4.2.

After the ﬁrst installation of the B-Human basic system using installRobot.usb, the robot’s

operating system should not freeze anymore while copying ﬁles via scp. Therefore, following

On Linux and OS X you have to start the ﬂasher with root permissions. Usually you can do this with sudo

./ﬂasher

This is not necessary on OS X if using DHCP.

2.5. COPYING THE COMPILED CODE B-Human 2013

installations

can be handled using the installRobot script, which works quite similar to the

installRobot.usb script, but without the necessity of an USB ﬂash drive. Note: Installing the

B-Human basic system the ﬁrst time after ﬂashing the robot should always be executed using

the installRobot.usb script.

For example, to update an already installed NAO, run:

./ ins tallR obo t Penny 169 .25 4.2 20. 18

2.5 Copying the Compiled Code

The tool copyﬁles is used to copy compiled code and conﬁguration ﬁles to the NAO. Although

copyﬁles allows specifying the team number, it is usually better to conﬁgure the team number

and the UDP port used for team communication permanently in the ﬁle Conﬁg/settings.cfg.

On Windows as well as on OS X you can use your IDE to use copyﬁles. In Visual Studio you

can run the script by “building” the tool copyﬁles, which can be built in all conﬁgurations. If

the code is not up-to-date in the desired conﬁguration, it will be built. After a successful build,

you will be prompted to enter the parameters described below. On the Mac, a successful build

for the NAO always ends with a dialog asking for copyﬁles’ command line options.

You can also execute the script at the command prompt, which is the only option for Linux

users. The script is located in the folder Make/<OS/IDE>.

copyﬁles requires two mandatory parameters. First, the conﬁguration the code was compiled

with (Debug, Develop or Release)

, and second, the IP address of the robot. To adjust the

desired settings, it is possible to set the following optional parameters:

Option Description

-l <location> Sets the location, replacing the value in the settings.cfg.

-t <color> Sets the team color to blue or red, replacing the value in the settings.cfg.

-p <number> Sets the player number, replacing the value in the settings.cfg.

-n <number> Sets team number, replacing the value in the settings.cfg.

-r Restarts bhuman and if necessary naoqi.

-rr Restarts bhuman and naoqi.

-m n <ip> Copies to IP address <ip> and sets the player number to n. This option

can be speciﬁed more than ones to deploy to multiple robots.

-wc Compiles also under Windows if the binaries are outdated.

-nc Never compiles, even if binaries are outdated. Default on Windows/OS X.

-d Removes all log ﬁles from the robot’s /home/nao/logs directory before

copying ﬁles.

-h | --help Prints the help.

Possible calls could be:

./ co py files Develo p 134 .10 2.2 0 4.2 29 -n 5 -t blue -p 3 -r

./ co py files Releas e -m 1 10.0.0.1 -m 3 10.0.0.2

The destination directory on the robot is /home/nao/Conﬁg. Alternatively the B-Human User

Shell (cf. Sect. 8.2) can be used to copy the compiled code to several robots at once.

Re-installation might be useful when updating scripts etc.

This parameter is automatically passed to the script when using IDE-based deployment.

B-Human 2013 2.6. WORKING WITH THE NAO

2.6 Working with the NAO

After pressing the chest button, it takes about 40 seconds until NAOqi is started. Currently the

B-Human software consists of two shared libraries (libbhuman.so and libgamectrl.so) that are

loaded by NAOqi at startup, and an executable (bhuman) also loaded at startup.

To connect to the NAO, the subdirectories of Make contain a login script for each supported

platform. The only parameter of that script is the IP address of the robot to login. It automat-

ically uses the appropriate SSH key to login. In addition, the IP address speciﬁed is written to

the ﬁle Conﬁg/Scenes/connect.con. Thus a later use of the SimRobot scene RemoteRobot.ros2

will automatically connect to the same robot. On OS X, the IP address is also the default

address for deployment in Xcode.

Additionally the script Make/Linux/ssh-conﬁg can be used to output a valid ssh conﬁg ﬁle

containing all robots currently present in the robots folder. Using this conﬁguration ﬁle one can

connect to a robot using its name instead of the IP address.

There are several scripts to start and stop NAOqi and bhuman via SSH. Those scripts are copied

to the NAO upon installing the B-Human software.

naoqi executes NAOqi in the foreground. Press Ctrl+C to terminate the process. Please note

that the process will automatically be terminated if the SSH connection is closed.

nao start|stop|restart starts, stops or restarts NAOqi. After updating libbhuman with copy-

ﬁles NAOqi needs a restart. Copyﬁles’ option -r accomplishes this automatically.

bhuman executes the bhuman executable in foreground. Press Ctrl+C to terminate the pro-

cess. Please note that the process will automatically be terminated if the SSH connection

is closed.

bhumand start|stop|restart starts, stops or restarts the bhuman executable. If copyﬁles is

started with option -r, it will restart bhuman.

status shows the status of NAOqi and bhuman.

stop stops running instances of NAOqi and bhuman.

halt shuts down the NAO. If NAOqi is running, this can also be done by pressing the chest

button longer than three seconds.

rebo ot reboots the NAO. If NAOqi is running, this can also be done by pressing the chest

button longer than three seconds while also pressing a foot bumper.

2.7 Starting SimRobot

On Windows and OS X, SimRobot can either be started from the development environment

or by starting a scene description ﬁle in Conﬁg/Scenes

. In the ﬁrst case, a scene description

ﬁle has to be opened manually, whereas it will already be loaded in the latter case. On Linux,

just run Build/SimRobot/Linux/<conﬁguration>/SimRobot, either from the shell or from your

favorite ﬁle browser, and load a scene description ﬁle afterwards. When a simulation is opened

On Windows, the ﬁrst time starting such a ﬁle the SimRobot.exe must be manually chosen to open these

ﬁles. Note that both on Windows and OS X, starting a scene description ﬁle bears the risk of executing a diﬀerent

version of SimRobot than the one that was just compiled.

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B-human2013：Nao机器人赛事技术文档

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