Introduction
Welcome!
This section will guide you through the Python and C++ programming; it will allow you to create and use new modules.
You should have downloaded and extracted the aldebaran archive on your desktop. For now, we'll assume it's extracted in /path/to/aldebaran-sdk.
| Warning: |
You should use the naoqi-sdk-x.x.x-windows-vs2008.zip on Visual Studio 9 2008 and naoqi-sdk-x.x.x-windows-vs2005.zip on Visual Studio 8 2005. |
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Architecture of the Aldebaran SDK
A few words about the arborescence of the aldebaran-sdk archive.
- bin: contains Aldebaran's binaries.
- preferences: contains the configuration files you may edit to configure the modules. (The xml files). There's also the 'autoload.ini' file, which allows you to choose which modules you want to load at startup.
- share: contains the data needed for our programs. You should not change anything there.
- include /lib: contains the headers and the libraries as part of Aldebaran's C++ SDK. Note that lib/naoqi contains the NAOqi's modules. (See below for more information)
- root.cmake, toolchain-pc.cmake: be careful to not change those files if you want to use CMake with our SDK.
Environment variables
As a general rule, our software needs a few environment variables to work.
- On windows, the %PATH% needs to be set because naoqi.exe (and the code you will write) may need to find a few DLLs.
- On linux, we have to find a few dynamic libraries which are not on a standard location. We have to set $LD_LIBRARY_PATH to /path/to/sdk/lib
- On Mac, we have to find a few dynamic libraries and several third party frameworks. We have to set $DYLD_LIBRARY_PATH and $DYLD_FRAMEWORK_PATH to /path/to/sdk/lib and /path/to/sdk/Frameworks respectively.
NAOqi also needs $PYTHONHOME on linux and mac, for the "embedded python". (Which allows you to run python code inside NAOqi's process)
All those environment variables are set in the scripts you'll find at the root of the SDK. (NAOqi on linux and mac, naoqi.bat and naoqi_d.bat on windows). You should always use those scripts to launch NAOqi. (The naoqi-bin executable is not supposed to be use directly)
On Windows, you should always put your executables in the bin/ directory.