Using the NAOqi OS in a virtual machine

This section gives some hints about how to build third-party software for NAO.

Before starting, make sure the NAOqi OS virtual machine already setup and running. If it is not the case:

• refer to Setting up the NAOqi OS virtual machine to setup the NAOqi OS virtual machine;
• refer to Using the NAOqi OS virtual machine to start the NAOqi OS virtual machine;
• refer to Accessing the NAOqi OS virtual machine through ssh to login on the NAOqi OS virtual machine.

Tweaking the NAOqi OS virtual machine

Optimizing builds for Atom targets

As root, make the /etc/portage symlink point to:

• /etc/portage.generic to build x86-generic binary. targets;
• /etc/portage.atom to build optimized binaries for Atom targets;

To change, just run the following commands:

# Here, set optimizations for Atom (a.k.a. NAO V4):
su
rm -fi /etc/portage
ln -sfv /etc/portage.atom /etc/portage
exit

# do some developments...

# Then you can switch back to the generic settings:
su
rm -fi /etc/portage
ln -sfv /etc/portage.generic /etc/portage
exit

Building the third-party software

emerge usage

emerge is the package manager used by Gentoo, NAOqi OS.

As usual, do not hesitate to checkout the emerge documentation http://www.gentoo.org/doc/en/handbook/handbook-x86.xml?part=2&chap=1#doc_chap3 or the its man page:

man emerge

This section gives the most often used emerge commands.

Warning

Never run:

emerge --sync

This will upgrade the whole system, all packages build after that may be not compatible with those from the NAOqi OS on the robot.

Searching a package

Searching in the package name (quick search):

emerge -s <some package>

Searching in the package description (a lot slower):

emerge -S <some package>

Building and installing a package

To build and install a package and all its dependencies, run (this requires root privileges):

su
emerge -ab <package name>
exit

After the building and installing some packagea in the virtual machine, the binary packages are locally stored in /home/nao/opennao-distro/packages.

The following command will show you all built packages:

tree ``/home/nao/opennao-distro/packages``

Package content

To check the content of an installed package:

equery files <package name>

To know which package a file belongs:

portageq owners / <full path of the file>