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1. General structure of RAPP system

Figure 1 presents the general structure of the RAPP system, consisting of agents residing in the cloud and a robot. Figure 1: General structure of RAPP system

The cloud part of the system contains a repository agent a_rep (repository storing all RAPP applications - RApps in short) and a cloud agent a_cloud (representing external services). Each robot contains a specific core agent a_core, which governs both NAO effectors and receptors. RApps are composed of a single dynamic agent a_dyn executed on a robot and might be supplemented with agents running in the cloud.

More information of the general structure of RAPP system can be found in here...

2. Preparation of hardware for RAPP development

Tutaj wstawić rysunek z chmurą/github, VM i robotem NAO oraz walnąć trzy słowa komentarza co oznaczają strzałki.

• Structure of RAPP project repositories on github

Preparation of virtual machine

Required system on virtual machine: Gentoo (the same as on Nao robot!)

The virtual machine is required for development, compilation and installation of Core and Dynamic Agents for Nao robot. For this reason it depends on many different libraries and tools.

• Structure of virtual machine - describes the general structure of directories and dependencies of Virtual Maching

• Installation of virtual machine - contains instructions regarding installation of Oracle VM Virtual Box along with image of OpenNAO Virtual Machine

• Installation of necessary packages - explains how to download, compile and install required ROS packages and libraries

Preparation of NAO robot

Required system on Nao robot: Aldebaran RT (based on Gentoo)

After preparation of the OpenNAO Virtual Machine you must perform analogous operations of the NAO robot itself.

• [Folder structure of Nao robot] (https://github.com/rapp-project/rapp-robot-nao/wiki/Folder-structure-of-Nao-robot)
• Configuration and copying libraries on NAO robot

3. Running of the RAPP system

Preparation of core agent

• Download and compilation of core agent on Virtual Machine

• Upload of core agent from Virtual Machine to NAO

Running core agent on NAO

• Running ROS and HOP on NAO
• Running core agent

Preparation of dynamic agents

• Download and compilation of dynamic agents on Virtual Machine
• Creation of hz packages on Virtual Machine

Preparation of PC to work as a Repository

Required system: Ubuntu 14.04

The RApps (Dynamic Agents) can be downloaded from the RAPP store (a_rep) or from your own PC emulating the RAPP store.

• Preparation of repository agent on PC
• Running and configuration of repository agent on PC
• Sending hz packages from Virtual Machine to Repository

Running RApps (dynamic agents)

• Running dynamic agents

4. Development of new RApps

The dynamic agent is implemented with the use of API provided by RAPP core developers.

• Rapp API functions - list of functions constituting the RAPP API.

• Implementation of exemplary dynamic agent - a tutorial explaining how to implement your own dynamic agent

• Creation of hz packages on Virtual Machine

• Sending hz packages from Virtual Machine to Repository

• Adding new RApp to NAO - If dynamic agent was written then it should be compiled and archived as a hz package in repository.