C++ SDK - Installation Guide

Warning

Installing C++ development tools requires to understand and master cross-compilation concepts.

Beginners should prefer Choregraphe and Python.

Supported Operating Systems

OS	Version
Linux	Ubuntu 14.04 (Trusty Tahr) and later
Windows	Microsoft Windows 7 and 8.1
Mac	Mac OS X 10.10.2 Yosemite

Windows limitations

No C++ cross-compiler.

The C++ cross-compiler (used to compile code to be run on the robot) is not available on Windows.

Windows architecture: make sure to compile for 32-bit.

While both architectures (32-bit and 64-bit) are supported to run your favorite IDE, it is mandatory to compile exclusively for 32-bit. The resulting code will run as well on 32-bit or 64-bit environment.

Overview

Steps	comment
A - Compiler and IDE	Make sure you have the required tools.
B - Cross-platform build system
C - qiBuild Installation	Follow step by step the installation guides
D - SDK Installation
E - Compile and run an example

Requirements

A - Compiler and IDE

OS	Compiler and IDE
Linux	GCC version 4.8.2 or higher and a recent version of QtCreator.
Windows	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.

B - Cross-platform build system

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 NAOqi OS.

The table below lists the prerequisites to qiBuild installation.

Requirement	Comments
CMake	On Linux: Use the cmake package provided by your distribution. Make sure to use version 2.8.12 or higher. On Windows and Mac: Make sure to use version 3.2 or higher. Use the installer from CMake official website: http://www.cmake.org/cmake/resources/software.html When prompted, choose to add CMake to your PATH.
Python 2.7	On Windows: To use scripts written in Python, you have to put in your PATH: C:\Python27 and c:\Python27\Scripts

C - qiBuild Installation

Step	Action
	Checking qiBuild prerequisites Make sure you have installed CMake and Python. For further details, see B - Cross-platform build system.
	Installing qiBuild Follow the Installation step of the: qiBuild documentation - Getting started, and only this step, then come back to this page.
	Configuring qiBuild Run: $ qibuild config --wizard You will be prompted to specify: CMake path (if not automatically found), CMake Generator and the IDE you will use. It is advised to use ‘Unix Makefiles’ on Linux and Mac, and ‘Visual Studio’ on Windows. 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.

D - SDK Installation

Step	Action
	Checking SDK prerequisites Make sure you have installed one of the recommended compilers and IDE. For further details, see A - Compiler and IDE.
	Retrieving C++ SDK Retrieve the C++ SDK archive: naoqi-sdk-x.x.x-[OS].tar.gz or naoqi-sdk-x.x.x-win32-[visualStudioversion].zip You can download the latest release from Aldebaran Community website. For further details, see: Downloading & Installing Aldebaran Software. Be careful to select the archive corresponding to your Operating System (Windows, Mac or Linux).
	Extract it on your machine (we’ll assume that the extracted folder is called naoqi-sdk).
	Create an EMPTY folder where you want to store your C++ SDK (let’s call it /path/to/SDKfolder). Open a Command Prompt and go to that folder. Type this command in order to create a worktree. $ qibuild init
	Then copy your folder naoqi-sdk into your SDK folder. You should then have something like: /path/to/SDKfolder/naoqi-sdk

E - Compile and run an example

Step	Action
	In your SDK folder, enter the subfolder doc/dev/cpp/examples using your Command Prompt. $ cd /path/to/SDKfolder/naoqi-sdk/doc/dev/cpp/examples For example, Windows users will do (for C++ SDK):
	Type this command in order to create a toolchain using the feed from the C++ SDK: $ qitoolchain create mytoolchain /path/to/SDKfolder/naoqi-sdk/toolchain.xml Where mytoolchain is the name you want to give to this specific toolchain (you could have several).
	Type this command to create a build configuration associated with this toolchain, and make sure this configuration is the default for this worktree: $ qibuild add-config mytoolchain -t mytoolchain --default
	Type these commands in order to configure and build the sayhelloworld project: $ cd core/sayhelloworld $ qibuild configure $ qibuild make
	You can now run the resulting binary from: sayhelloworld/build-mytoolchain/sdk/bin Note On Mac, you should set the environment variable DYLD_LIBRARY_PATH to sayhelloworld/build-mytoolchain/sdk/lib first.