cross_compile.MD

Cross compile for Pepper

Reference: http://doc.aldebaran.com/2-4/dev/cpp/install_guide.html

pip install qibuild
qibuild config --wizard

Download Pepper/Nao C++ SDK libraries

https://community.ald.softbankrobotics.com/en/resources/software/language/en-gb

mkdir ~/sdk
mkdir ~/sdk/naoqi
cd ~/sdk/naoqi
qibuild init

Put naoqi-sdk.x.x.tar.gz in:

~/sdk/naoqi/naoqi-sdk

Download cross toolchains

https://community.ald.softbankrobotics.com/en/resources/software/language/en-gb/robot/pepper-3

Unzip ctc-linux64-atom

-x.x.x.zip in:

~/sdk/naoqi/ctc-linux64-atom

Create toolchain with atom cross toolchain:

qitoolchain create atom ~/sdk/naoqi/ctc-linux64-atom/toolchain.xml

Go into any worktree (project/code) and run to initialize the build directory and set cross-compiler toolchain to default:

qibuild init
qibuild add-config atom -t atom --default

Use to make:

qibuild configure -c atom
qibuild make

Virtual Machine

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

emerge -ab <package name>