NAO Software 1.14.5 documentation

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What’s new - 1.14

Improving customer support

Implementation of an issue reporter

Help us improve our software! In case of a NAOqi issue, you can now send us an issue report, automatically or manually.

For an automatic upload, see: the Bug report option in Settings, for a manual upload, see: How to retrieve an issue report.

Improving upgrade process

Trying to detect and to better manage potential issue during the upgrade process, we have slightly modified the upgrading process.

Warning

Make sure you read the updated documentation before proceeding an upgrade: Upgrading your robot.

Supported Operating Systems

64-bits fully supported

This release fully supports 64-bits OS.

MAC OS X 32-bits no longer supported

MAC OS X 32-bits is no longer supported.

Therefore, upgrading Choregraphe is no longer possible on computer running non-supported Operating Systems such as Mac OS X version 10.5 Leopard or earlier.

Ubuntu 10.04 LTS (Lucid) EOL

This is the last release supporting Ubuntu 10.04 LTS (Lucid).

The next major release will only support Ubuntu 12.04 LTS (Precise) and later.

As a consequence, this is also the last release supporting Python 2.6.

Audio

New voice for Japanese text to speech

NAO Speaks Japanese with a new, much better voice.

ALTextToSpeech now uses the speech synthesizer provided by ACAPELA for all languages, including Japanese.

For further details, see: ALTextToSpeech.

Text to speech: voices have been improved

In order to improve voice quality, ALTextToSpeech now uses a new version of language files.

Upgrading your robot will automatically update the default languages.

For further details see: How to update NAO system.

If you have installed additional languages provided by our Customer support team, contact them to request an update.

For further details, see: Contacting customer support.

Vision

New module: ALVisualCompass

ALVisualCompass is an extractor which gives the current rotation angles of the robot compared to a given reference image along the Y and Z axis.

The module gives the rotation of the FRAME_ROBOT reference, so the whole body of the robot and not only its head. This means that if the robot stays standing but moves its head, the deviation angles will not change.

For further details, see: ALVisualCompass.

New module: ALMovementDetection

ALMovementDetection extractor enables to detect movements around the robot thanks to its camera.

Warning

This module is experimental. In order to improve its performances, it is likely the algorithm used for the detection will change in the next version, which may result in API changes.

For further details, see: ALMovementDetection.

Module refactoring: ALVideoDevice

An experimental refactoring of ALVideoDevice module allows you to test a kind of stereo vision using simultaneously both cameras.

For further details, see: ALVideoDevice API.

ALVisionToolbox is deprecated

Use the following modules instead:

• ALBacklightingDetection to detect back-lighting situations and be notified by an event when back-lighting occurs.
• ALDarknessDetection to detect darkness situations and be notified by an event when the image becomes dark.
• ALPhotoCapture to take one or several pictures.
• ALVideoRecorder to record video.

ALVideoDevice deprecated methods

Deprecated method	Replaced by ...
ALVideoDeviceProxy::subscribe()	ALVideoDeviceProxy::subscribeCamera()
ALVideoDeviceProxy::unsubscribeAllInstances()	ALVideoDeviceProxy::unsubscribe()
ALVideoDeviceProxy::startFrameGrabber()	ALVideoDeviceProxy::startFrameGrabber()
ALVideoDeviceProxy::stopFrameGrabber()	ALVideoDeviceProxy::stopFrameGrabber()
ALVideoDeviceProxy::isFrameGrabberOff()	ALVideoDeviceProxy::isFrameGrabberOff()
ALVideoDeviceProxy::getActiveCamera()	ALVideoDeviceProxy::getActiveCamera()
ALVideoDeviceProxy::getVIMResolution()	ALVideoDeviceProxy::getResolution()
ALVideoDeviceProxy::getVIMColorSpace()	ALVideoDeviceProxy::getColorSpace()
ALVideoDeviceProxy::getVIMFrameRate()	ALVideoDeviceProxy::getFrameRate()
ALVideoDeviceProxy::getGVMResolution()	ALVideoDeviceProxy::getResolution()
ALVideoDeviceProxy::getGVMColorSpace()	ALVideoDeviceProxy::getColorSpace()
ALVideoDeviceProxy::getGVMFrameRate()	ALVideoDeviceProxy::getFrameRate()
ALVideoDeviceProxy::getCameraModelID()	ALVideoDeviceProxy::getCameraModel()
ALVideoDeviceProxy::getParam()	ALVideoDeviceProxy::getCameraParameter()
ALVideoDeviceProxy::setParam()	ALVideoDeviceProxy::setCameraParameter()
ALVideoDeviceProxy::setParamDefault()	ALVideoDeviceProxy::setCameraParameterToDefault()
ALVideoDeviceProxy::getAngPosFromImgPos()	ALVideoDeviceProxy::getAngularPositionFromImagePosition()
ALVideoDeviceProxy::getAngSizeFromImgSize()	ALVideoDeviceProxy::getAngularSizeFromImageSize()
ALVideoDeviceProxy::getImgInfoFromAngInfo()	ALVideoDeviceProxy::getImageInfoFromAngularInfo()
ALVideoDeviceProxy::getImgInfoFromAngInfoWithRes()	ALVideoDeviceProxy::getImageInfoFromAngularInfoWithResolution()
ALVideoDeviceProxy::getImgPosFromAngPos()	ALVideoDeviceProxy::getImagePositionFromAngularPosition()
ALVideoDeviceProxy::getImgSizeFromAngSize()	ALVideoDeviceProxy::getImageSizeFromAngularSize()
ALVideoDeviceProxy::getExpectedImageParameters()	ALVideoDeviceProxy::getExpectedImageParameters()
ALVideoDeviceProxy::setSimCamInputSize()	ALVideoDeviceProxy::putImage()
ALVideoDeviceProxy::putImage()	ALVideoDeviceProxy::putImage()
ALVideoDeviceProxy::resolutionToSizes()	AL::setSizeFromResolution instead. For further details, see: libalvision API reference.
ALVideoDeviceProxy::sizesToResolution()	AL::getResolutionFromSize instead. For further details, see: libalvision API reference.

Trackers

ALRedballDetection - ALFaceDetection improved

Tracking is now possible with both cameras.

For further details see: NAOqi Trackers.

The camera used for the detection in now precised in the information returned, as well as its position in FRAME_TORSO and FRAME_ROBOT.

For further details, see: ALRedBallDetection and ALFaceDetection.

Sensors

Since release 1.14, usage of the Chest button LEDs is deprecated. The usage of the Chest button will be soon restricted in order to use it as a system button.

For further details, see: ALLeds.

Motion

New module: ALNavigation

ALNavigation is a first attempt to make the robot go safely to a different pose (i.e. location + orientation). The robot cannot yet avoid obstacles, but it is able to move cautiously, stopping as soon as an obstacle enters its security zone.

For further details, see: ALNavigation.

New module: ALRobotPosture

ALRobotPosture module allows you to make the robot go to a different posture.

For further details, see: ALRobotPosture.

New methods: wakeUp and rest

These new methods are convenient to manage the Stiffness globally, for the whole robot.

For further details, see: ALMotionProxy::wakeUp() and ALMotionProxy::rest().

Self-collision avoidance improved

Self-collision avoidance can be deactivated in any case, even if the current state of the chain in collision.

For further details, see: ALMotionProxy::setCollisionProtectionEnabled().

getLimits returns also maxTorque

Additionally to minAngle, maxAngle and maxVelocity, ALMotionProxy::getLimits() returns the maxTorque.

Space names have changed

Constant names have changed:

• SPACE_TORSO becomes FRAME_TORSO
• SPACE_WORLD becomes FRAME_WORLD
• SPACE_NAO becomes FRAME_ROBOT

Note that for backward compatibility, former constants are still available.

For further details, see: Spaces.

Deprecated module: ALMotionRecorder

Use the Animation Mode instead.

For further details, see: Animation Mode.

ALMotion deprecated methods

Walk control becomes Locomotion control

Deprecated method	Replaced by ...
ALMotionProxy::walkTo()	ALMotionProxy::moveTo()
ALMotionProxy::walkInit()	ALMotionProxy::moveInit()
ALMotionProxy::waitUntilWalkIsFinished()	ALMotionProxy::waitUntilMoveIsFinished()
ALMotionProxy::walkIsActive()	ALMotionProxy::moveIsActive()
ALMotionProxy::stopWalk()	ALMotionProxy::stopMove()
ALMotionProxy::getFootGaitConfig()	ALMotionProxy::getMoveConfig()

General Tools

Deprecated method	Replaced by ...
ALMotionProxy::getJointNames()	ALMotionProxy::getBodyNames()

Motion task

Deprecated method	Replaced by ...
ALMotionProxy::killWalk()	ALMotionProxy::killMove()

Core

New module: ALConnectionManager

This new module provides methods for network configuration and connection. ALConnectionManager supports several technologies such as Ethernet, WiFi and Bluetooth.

For further details, see: ALConnectionManager.

ALMemory: 2 new methods

Two new methods allow you to set and get a description for each memory entry.

For further details, see: ALMemoryProxy::getDescriptionList() and ALMemoryProxy::setDescription().

ALBehaviorManager deprecated methods

Deprecated method	Replaced by ...
ALBehaviorManagerProxy::getBehaviorNames()	ALBehaviorManagerProxy::getInstalledBehaviors()
ALBehaviorManagerProxy::getUserBehaviorNames()	ALBehaviorManagerProxy::getInstalledBehaviors()
ALBehaviorManagerProxy::isBehaviorPresent()	ALBehaviorManagerProxy::isBehaviorInstalled()

Libraries

New

• TBB
• lttng
• OpenNI (only in NAO v4 image)
• NumPy (only in NAO V4 image)
• Python support for OpenCV (only in NAO v4 image)

Removed

Urbi

Updated

Several libraries used by NAOqi SDK has been updated:

• eigen 2 => 3
• python 2.6.6 => 2.7.2
• boost 1.45.0 => 1.48.0
• opencv 2.1.0 => 2.3.1a
• glibc 2.11.3 => 2.13
• net-misc/connman 0.69.4 => 1.1
• net-wireless/wpa_supplicant 0.7.3 => 1.0
• wireless-compat 3.2 => 3.4

For further details about OpenCV, see: Using OpenCV.

Updated Development tools

• gdb 7.2 => 7.3.1
• strace 4.5.20 => 4.6
• valgrind 3.5.0 => 3.6.1
• Updated toolchain to gcc 4.5.3 in cross-toolchains.

Choregraphe - new tools

Resource Viewer panel

Resource viewer is a new panel that dynamically displays the name of the box locking resources.

For further details, see: Resource viewer panel.

Memory watcher panel

Memory watcher is a new panel allowing you to easily display the value of events or data during the execution of a behavior.

Memory watcher has a Recording function allowing you to save a CSV file containing the history of event or data values during the recording.

For further details, see: Memory watcher panel.

Forward kinematics in 3D View (Experimental)

Activate the option Use 3D controller for motors (Experimental) in order to test new forward kinematics.

For further details, see: Choregraphe Preferences and Robot view.

Dialog panel (Experimental)

Activate the option Activate dialog widget (Experimental) in order to test new Dialog panel.

For further details, see: Choregraphe Preferences and Dialog panel - Experimental.

Choregraphe - improvements

Optimization

Optimization has been one of our major priority. More specifically, behavior loading is now much faster.

Timeline

Supports all models

The Timeline tools are now aware of the Body type of the connected robot.

For example, when you are connected to a T14, legs joints are not displayed anymore.

For further details, see: Timeline and Timeline Editor.

Timeline properties accessible by scripts

Methods allowing you to manage the Timeline execution have been improved and simplified. Now Timeline object can be accessed in python using:

• self.getTimeline()
• self.getParentTimeline()

For further details, see: Built-in functions in the script of a box.

Animation mode

Animation mode is easier to use:

• it is no more necessary to be in Recording mode to use it,
• vocal commands “Store position” is available in all languages,
• using Animation Mode to define Motion keyframes is just as easy as pressing F8.

For further details, see: How to use the Animation Mode.

Behavior manager panel

The Behavior manager panel has a new, simplified Toolbar.

To install a Behavior directly from your computer:

Drag and drop a the CRG file or the directory of a behavior into the Behavior manager panel.

For further details, see: Behavior manager panel.

Connection Management

The management of connection troubles has been improved: the modal alert has been replaced by a tooltip offering guidance to fix the problem.

For further details, see: Connection Management.

The Connection widget has also evolved: now the IP address of the robot is displayed and can be refreshed if necessary.

For further details, see: Connection widget.

Flow diagram

New buttons appear on the Input and Output borders of the Flow diagram:

To display their names, hold down Shift-Control:

• (+) Add input and (+) Add output: eases the access to the existing contextual menu.
• (+) Add event from ALMemory: gives an easier access to Events.

For further details, see: Managing Flow diagram inputs and outputs.

File > Save project

File menu has been simplified: a single command allows saving a Project as a CRG file or as a directory.

For further details, see How to save a project as a CRG and How to save a project as a directory.

Resource Editor

Resource editor becomes Box resource selector,

improved in order to be more intuitive.

For further details, see: Box resource selector.

Inherited parameters

In order to clarify parameters inheritance, when activated, if a parent parameter is found:

• the child parameter Type is disabled and
• it is no more possible to edit the value of the child parameter.

Automatic free trial license

When installing Choregraphe, it is no more necessary to enter the free trial key. User can freely use Choregraphe for 90 days.

During 90 days, at startup, a reminder gives the choice to use the free trial or to enter the license key.

New Box Libraries

the default Box Library has been split in 3 box libraries:

• standard,
• advanced and
• deprecated.

For further details, see: Box libraries panel.

Choregraphe - new boxes

Audio

Sound Peak

Audio > Sound > Sound Peak:

Detect sound peaks.

Each time a sound peak is detected, the onPeak output is stimulated.

Communication

Choregraphe Connection

Communication > Network > Choregraphe Connection:

Check if NAO is connected to Choregraphe and warn when it gets connected or gets disconnected.

Internet Connection

Communication > Network > Internet Connection:

This box detects when NAO is connected or disconnected to the Internet.

Motion

Set Fall Manager

Advanced box Library > Motions > Set Fall Manager:

Enable or disable the Fall Manager.

It is automatically set to its previous state when the behavior is stopped.

System

Get Date

System > Get Date:

This box provides NAO’s local time and date.

Get Name

System > Get Name:

Returns NAO’s name.

For example: “Patate”.

Note: You can change the name of your robot on its webpage.

Log

Debug > Log:

Prompt the message in the debug window. You can set a prefix and a priority for the message in the parameters.

Get Body ID

Advanced box Library > System > Get Body ID:

Returns the ID of NAO’s body.

Templates

3 templates are now available in order to quickly create Diagram, Script or Timeline boxes.

Trackers

Movement Tracker

Trackers > Movement Tracker:

Turn the head in the direction of detected movement

Vision

Record Video

Vision > Record Video:

Record a video from NAO’s camera. Stop recording when the duration set in parameter is elapsed.

Take Picture

Vision > Take Picture:

Take a picture with NAO’s camera and store it in his memory in ~/recordings/cameras. The image format is JPG.

Unlearn Face

Vision > Unlearn Face:

Unlearn the face which name is set on the input.

Note: If the face has not been learnt before, the onFailure output will be stimulated.

New 3D simulator for NAO: Webots for NAO

Cyberbotics has designed a version of its three-dimensional mobile robot simulator Webots exclusively dedicated to NAO.

Like the former NAOsim, Webots for NAO allows you to launch a simulated NAO moving in a virtual world. It offers a safe place to test behaviors before playing them on a real robot.

For further details, see: Webots for NAO.

NAOsim is only compatible with 1.12 software version. If you want to still use NAOsim, the 1.12.5 software documentation is available here: http://www.aldebaran-robotics.com/documentation/old/1.12.

« Release notes - 1.14 | Release notes - 1.14 | Release notes - 1.12 »

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