SPL Code Releases

The NaoQi image with root access for Nao V6 is only available to teams
qualified for RoboCup, yet many of the following code releases require this
image to work. So, teams interested in participating in RoboCup can write to
rc-spl-tc@lists.robocup.org to gain access to the image. However, teams must
understand and accept that the root image (and developer documentation) can
only be used for RoboCup and may not be shared outside the team.

Full Public Code Bases

The entries in this section are full releases from SPL teams that are
continuously developed in public.

Recent Full/Partial Code Releases

The entries in this section are full (annual) releases from the current or
previous year. Some of them may have particular components removed.

Recent Component Releases

Older Full/Partial Code Releases

Older Component Releases

Other SPL Code

SPL NaoQi Hacks

This section contains version-specific hacks that work around issues in
different versions of NaoQi.

• Somewhere between NaoQi 1.10.37 and 1.14.1 the value of
  “Device/SubDeviceList/InertialSensor/AccY/Sensor/Value” had the sign flipped
  (this is the Accelerometer in the y-dimension). Multiply it by -1 to get the
  old values. (Contributed by
  RoboEireann)

• Upgrading to 1.14.1 from 1.10.37, the raw gyroscope values
  “Device/SubDeviceList/InertialSensor/GyrX/Sensor/Value” and
  “Device/SubDeviceList/InertialSensor/GyrY/Sensor/Value” changed in both
  range and scale.
  RoboEireann
  empirically found scaling these raw values by 0.7 brought them back to the
  old sort of values they had previously seen.

• The V3 cameras have a few issues with them in 1.14.1.
  RoboEireann
  found that the frame buffers were still not marked as cacheable and that
  auto black level functions were impossible to disable.
  RoboEireann
  forked the Aldebaran kernel and patched the camera driver to fix both of
  these issues. The kernel is hosted at
  https://github.com/mp3guy/linux-aldebaran, with versions 1.12 and 1.14. To compile the patched driver, just checkout
  the source above and then:
  • Get the kernel config off a robot (/proc/config.gz)
  • Extract it to the root of the kernel source as .config
  • Run make ARCH=i386
  • Make coffee
  • If you get an error about arch/x86/vdso and -m elf_i386, open
    arch/x86/vdso/Makefile and find the line containing VDSO_LDFLAGS and
    replace -m elf_i386 with -m32
  • Copy drivers/media/video/lxv4l2/lxv4l2.ko to your nao on
    /lib/modules/2.6.29.6-rt24-aldebaran-rt/kernel/drivers/media/video/lxv4l2/lxv4l2.ko
    (you’ll need root for this)
  • Reboot and enjoy the image being loaded into the Geode’s cache and auto
    black level settings being disabled by default.

• The sonars work differently from what the documentation suggests (NaoQi
  1.14.0-2). First of all, in firing modes 0-3 the readings are all returned
  as measurements of the right sensor. In addition, only 70 ms after firing a
  sensor, the readings seem to be correct. Before that, they still might
  correspond to previous measurements. The firing modes 4-7 always fire both
  transmitters and read with both receivers. In modes 4 and 7, the receivers
  measure the pulse sent by the transmitters on the same side. In modes 5 and
  6, they measure the pulse sent by the transmitters on the opposite side.
  They do not seem to disturb each other. They either use different
  frequencies or they are fired at different points in time. (Contributed by
  B-Human)

• A new NAO V4 kernel can be found at
  http://github.com/bhuman/KernelV4. It activates SMP and comes with different drivers for WLAN, LAN, and
  cameras. (Contributed by
  B-Human)