Connecting and compiling

Connecting using ethernet cable

• Turn on the robot and plug in the cable
• Make sure your connection is set to shared in the IPv4 settings of your connection with the robot.
• Connect using ssh nao@<robotname>.local. Note that .local only works on linux and an IP is required for other system.

Compiling the code locally

• From the build folder, run make
• You can specify a target to make using -t, for example make -t dnt
• You can use multiple threads for compiling using -jN, for example make -j8
• For more information run make --help

Note that the folder build is the directory for compiling local code such as dnt-interface and dnt-load-data while build_v6 is the directory for compiling code for the robot (NAO V6) such as dnt and dnt-save-data. If you compiled a target before, you can compile it from any subdirectory of the DNT project using the command dmake <TARGET> -jX.

Compiling to the robot

• Connect to the robot.
• From the build folder, you need to run the command robocopy: robocopy <NAO_NAME>.local
• In order to speed this up, compile locally first: make -jN -t dnt && robocopy <NAO_NAME>.local
• For more information run robocopy --help

If you encounter any issues running robocopy:

• Check if you can compile the code locally.
• Make sure the nao has been switched to DNT from naoqi.
• If robot is unreachable on their own name, try nao@nao.local and to fix this simply install the robot.
  1. In utill/scripts: ./install robot <robot>.local, after this robot will reboot
  2. Robocopy to installed robot
  3. Reboot robot