Setup code from other teams¶

There are a couple of code releases that might be interesting to setup for experiments. This is a guide on how to do this.

TODO: explain the multiple repositories and give an overview on how they are connected

HTWK Motion Library¶

Since we don't currently have crosscompiler that supports C++17 we have to setup the ubuntu image on the nao and compile the library there. A guide on how to setup the ubuntu image can be found at TODO.

On the Nao:
- install git, cmake, g++, unzip
- clone the HTWK repo https://github.com/NaoHTWK/HTWKMotion
- get eigen wget https://gitlab.com/libeigen/eigen/-/archive/3.4.0/eigen-3.4.0.zip
- unzip the archive and copy the Eigen subfolder to HWTKMotion/eigen - inside the HTWKMotion folder excute: mkdir build && cd build - cmake ../ - cmake --build .

you end up with a libWalkingEngine.a

BHuman Coderelease 2020¶

TODO

Compiling Code for the robot via other means¶

Sometimes you want/need to compile something for the robot and not incorporate that into our premake builds. Usually those things are libraries that come with the cmake build system.

Minimal cmake example¶

TODO: what about sysroot? You can compile this helloworld.cpp

#include<iostream>

int main(int argc, char *argv[]){
   std::cout << "Hello World!" << std::endl;
   return 0;
}

using the CMakeLists.txt file

cmake_minimum_required(VERSION 2.8.9)

set(CMAKE_SYSTEM_PROCESSOR i686)

SET(CMAKE_C_COMPILER <path to linuxtoolchain repo>/toolchain_nao/compiler/bin/i686-berlinunited-linux-gnu-gcc)
SET(CMAKE_CXX_COMPILER <path to linuxtoolchain repo>/toolchain_nao/compiler/bin/i686-berlinunited-linux-gnu-g++)

project (hello)
add_executable(hello helloworld.cpp)

to compile it run:

mkdir build && cd build
cmake ../
cmake --build .