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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...
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.
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Structure of virtual machine - describes the general structure of directories and dependencies of Virtual Maching
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Installation of virtual machine - contains instructions regarding installation of Oracle VM Virtual Box along with image of OpenNAO Virtual Machine
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Installation of necessary packages - explains how to download, compile and install required ROS packages and libraries
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
- Running ROS and HOP on NAO
Virtual machine enables you to prepare
- Structure of RAPP project repository on github
- Implementation of dynamic agent
- Rapp API functions
- Adding new task to NAO commands
If dynamic agent was written then it should be compiled and archived as a hz package in repository. Follow tutorials described in section Working on virtual machine
Required system: Ubuntu 14.04