See also
Overview | C++ | Python | .Net | Java | Matlab | Urbi
C++ SDK | C++ SDK Installation | C++ Tutorials | C++ Examples | C++ Tips and tricks | Debugging C/C++ on the robot
| OS | Version | Allows you to compile code running on ... |
|---|---|---|
| Linux | Ubuntu 10.04 LTS (Lucid) to 11.04 (Natty) |
|
| Windows | Microsoft Windows XP Service Pack 3, Microsoft Windows 7 |
|
| Mac | Mac OS X 10.6.4 Snow Leopard, Mac OS X 10.7.1 Lion |
|
| OS | Compiler and IDE |
|---|---|
| Linux | GCC version 4.4 or higher and a recent version of QtCreator. |
| Windows | Visual Studio 2008 or Visual Studio 2010. |
| Mac | XCode, use the version corresponding to your Mac OS X (Snow Leopard or Lion), and a recent version of QtCreator. |
On Mac and Linux you can also use Eclipse if you are used to it.
Additionally to the C++ SDK, you will have to install qiBuild, a tool designed to generate cross-platform projects using CMake.
CMake generates makefiles and workspaces for any operating system, making the project able to be compiled simply on Windows, Mac, Linux and OpenNAO.
The table below lists the prerequisites to qiBuild installation.
| Requirement | Comments |
|---|---|
| CMake version 2.8.3 or higher | On Linux: Use the cmake package provided by your distribution. On Windows and Mac:
|
| Python 2.7 | On Windows: To use scripts written in Python, you have to put in your PATH: C:\Python27 and c:\Python27\Scripts |
| Step | Action |
|---|---|
Checking SDK prerequisites Make sure you have installed one of the recommended compilers and IDE. For further details, see Compiler and IDE. |
|
Retrieving C++ SDK Retrieve the C++ SDK archive:
You can find it on the DVD in Software > SDK > NAOqi SDK > C++
or download the latest release from the Aldebaran Robotics’ User or Developer site.
Be careful to select the archive corresponding to your Operating System (Windows, Mac or Linux). For Windows, choose win32-vs2008 if you are using Visual Studio 2008, or win32-vs2010 if you are using Visual Studio 2010. |
|
Extract it on your machine. For now, we’ll assume it’s extracted in /path/to/naoqi-sdk. For further information, see Understanding the package content. |
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Checking qiBuild prerequisites Make sure you have installed CMake and Python. For further details, see Cross-platform build system. |
|
Retrieving qiBuild Retrieve and extract the qiBuild archive: qibuild-x.zip You can find it on the DVD in Software > SDK > NAOqi SDK > C++
or download the latest release from the Aldebaran Robotics’ User or Developer site.
If you are used to Git, you can also clone the sources from github: https://github.com/aldebaran/qibuild. |
|
Installing qiBuild On Linux, Mac:
On Windows:
|
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Configuring qiBuild Run: $ qibuild config --wizard
You will be prompted to specify:
For the CMake generator, choose ‘Unix Makefiles’ on Linux and Mac, or ‘Visual Studio 9 2008’ or ‘Visual Studio 10’ on Windows. (Note: do not choose the 64 bits version for Visual Studio) For the IDE, it is advised to use ‘Visual Studio’ on Windows and QtCreator on Linux and Mac. (XCode is not well supported by qibuild yet) You can download QtCreator here : http://qt.nokia.com/products/developer-tools/ Note that you can still re-run the config wizard anytime you want. Result: a file is generated in ~/.config/qi/qibuild.xml. It is shared by all the worktrees you will create. |
Main content of the naoqi-sdk archive.
| Directory | Contains ... |
|---|---|
| bin | Aldebaran binaries. |
| DLLs | |
| doc | A local copy of this documentation. Note that the online documentation is updated more frequently:
|
| etc | XML files: the configuration files you may edit to configure the modules. naoqi/autoload.ini file: allows you to choose which modules you want to load at startup. |
| include, lib | Headers and the libraries as part of Aldebaran C++ SDK. Note that lib/naoqi contains the NAOqi modules. |
| libs | |
| share | Data needed for our programs. You should not change anything there. |