A basic behavior of ball tracking for Nao using BHuman

BHumanCodeRelease2017 must be the working project. The behavior wont work at 2018 since the project hierarcy differs.

• https://github.com/bhuman/BHumanCodeRelease/tree/coderelease2017

ScienceDaySoccerBehaviorV2 is the complete behavior. It is combination of a stationary ball tracking and an active ball tracking. Change between those two happens with the left bumper. At first it tracks stationary and after the second press goes to active tracking. The touch sensor at the top of the nao works as kill switch. This is the version 2 in which Nao also listens for falling and fallen states while on the halt state, after the first cycle of behaviors has occured in order to try to recover form the fall.

** Keep in mind that if you copy and place the code to any existing project that has options as well as other modules changed you will loose any chnages made in those files. So a safer option would be to manual copy them to their designated positions**

• Roles:

  • ScienceDaySoccerBehaviorV2.h
  • ScienceDaySoccerBehavior.h

• HeadControl:

  • HeadControl.h
  • LookBall.h
  • LookForward.h
  • LookLeftAndRight.h

• BehaviorControl:

  • behaviorControl.cfg

• Roles:

  • /BHumanCodeRelease/Src/Modules/BehaviorControl/BehaviorControl/Options/Roles

• HeadControl:

  • /BHumanCodeRelease/Src/Modules/BehaviorControl/BehaviorControl/Options/HeadControl

• BehaviorControl:

  • /BHumanCodeRelease/Config/Scenarios/behaviorControl.cfg

In Options.h we include our files in order for our behaviors to work.

• #include "Options/Roles/Example.h"
• #include "Options/Roles/ScienceDaySoccerBehavior.h"
• #include "Options/Roles/ScienceDaySoccerBehaviorV2.h"

• We add the necessary code in order to for the head control to handle the rest of the head movements.

• roots = [ScienceDaySoccerBehaviorV2];

• We add the files to their corresponding location. A paste of the files in the BHumanCodeRelease directory should do the trick.
• Then we go to the corresponding directory at then BHumanCodeRelease/Make/. For linux is BHumanCodeRelease/Make/Linux
• We complile by typing in a terminal in that directory

make

• Then be we need to copy the compliled code in the Nao via running ./copyfiles script in a terminal. An example of that is

./copyfiles Develop 192.168.3.25 -b -v 100

[-b in order to restart bhuman after the copy][-v in order to set the Nao's volume] for more information about copyfiles write

./copyfiles -h 

• In order for the robot to connect to the simRobot a login must have been executed before hand.
  • Check LabTutorials/HowToS/ConnectToNewerNaoBHuman in order to setup a wired connection with Nao while using bhuman
  • https://github.com/AnonKour/LabTutorials
• After the connection setup we navigate to BHumanCodeRelease/Make/Linux and run in the terminal

./login 192.168.3.25 

with 192.168.3.25 to be the ip of the Nao we want to connect and as a pass we use nao.

• For running SimRobot we again go to to the corresponding directory based on the operating system. For linux it is /BHumanCodeRelease/Build/Linux/SimRobot/Develop and we type in a terminal

./SimRobot

• Activations of the following
  • behavior
  • worldState
  • lower
  • upper
  • console

The folders of where they above can be found can be seen in the example picture.

The end result should be like the image SimRobotSceneExample.png located at the Screenshots folder.