From 521e50c93307dd52fc5c13e7eb5ec0ec9cc0d3d9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Davi=20Ant=C3=B4nio=20da=20Silva=20Santos?= Date: Sun, 5 Nov 2023 17:51:50 -0300 Subject: [PATCH] docs: Explica uso do naoqi simulado do NAOv6 --- scripts/vms/ubuntu-16/README.md | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/scripts/vms/ubuntu-16/README.md b/scripts/vms/ubuntu-16/README.md index af1fa22..4498152 100644 --- a/scripts/vms/ubuntu-16/README.md +++ b/scripts/vms/ubuntu-16/README.md @@ -320,6 +320,28 @@ qibuild configure -c "${NAOQI_QIBUILD_CTC_CONFIG}" qibuild make -c "${NAOQI_QIBUILD_CTC_CONFIG}" ``` +## Connecting to the simulated robot + +The simulated robot is an executable located in the C++ toolchain directory +named `naoqi`. Provided that the tools were installed with the aforementioned +scripts in their default configuration, it will be located at +`/home/softex/NAO6/SDKs/cpp/naoqi-sdk-2.8.5.10-linux64/naoqi`. + +The simulated robot must always be initialised before running Choregraphe or +your desired module. It will behave similarly to a physical robot, except by its +lack of cameras, and it will by default initialise its *broker* at *localhost*, +also known as IPv4 127.0.0.1, at the port 9559. + +### Simulating in Choregraphe + +If you wish to simulate your C++ module in Choregraphe, first you should start +the simulated `naoqi`. After doing it, then you must open Choregraphe, and +connect it to the broker available at 127.0.0.1 port 9559. + +After these steps you should see a 3D simulation of a NAO robot in the +Robot View panel. At this stage you are ready to connect to the simulated robot +and check how it behaves in the simplified simulation offered by Choregraphe. + ## Connecting to the Robot There are three scripts that are used when connecting the Virtual Machine to