NAO Robot Basic Control Tutorial

This repository contains basic code and explanations to control the NAO robot in Chili Lab.

Environment Setup

Python Version

• Required: Python 2.7.18
  Note: The NAO robot controller is not compatible with newer Python versions.

Install Required Packages

[Path to Python 2.7.18] -m pip install -r requirements.txt

Install NAOqi SDK

• Version: 2.1.2.17
• Download Link

Ensure there are no errors when running:

import naoqi

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NAO Turn-on and Turn-off

Although the official documentation states that turning on the robot requires a short click on the chest button (NAO Turn-on Guide), the NAO robot in the CHILI lab requires a long press of the chest button until the LED lights turn on.

After that, wait approximately 3-4 minutes (sometimes longer if there are updates in progress; for detailed information, refer to the NAO Boot Process Guide).

When the NAO says "OGNAK GNOUK," it has successfully powered on.

To turn off the NAO, ensure it is in a safe, stable area, then long-press the chest button until all the LED lights are off.

Connecting to NAO

1. Network Setup:
   Connect both the NAO robot and your computer to the same Wi-Fi network.
   Note: Avoid networks requiring login credentials (e.g., school networks). Use:

   • Wi-Fi Name: Clem-is-excited
   • Password: naotravelstochili

2. Get NAO's IP Address:
   Press the chest button (short press). NAO will announce its IP address (e.g., 192.168.1.117).

3. Access NAO's Web Interface: (Optional but useful)

   • Open a browser and go to http://[NAO_IP] or nao.local.
   • Login:
     • Username: nao
     • Password: naotravelstochili
   • This interface allows you to adjust settings like voice, battery status, etc.

4. Configure IP in Code:

   • In proxy.py, set PEPPER_IP to NAO's IP address.

Connecting to a New Network

• Via NAO's Web Interface: Navigate to the network settings, click "Add Network," and input the necessary credentials.
• If NAO is not connected to any network:
  • Use an Ethernet cable to connect NAO, like Wired Connection Guide
  • Visit http://nao.local to manage network settings.

Code Overview

• All basic NAO setup details are in proxy.py with detailed comments.

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Motion Control

• Use ALRobotPosture and ALMotion, defined in proxy.py, to control motions.
• Example motions can be found in robot_motion.py.
• Documentation:
  • ALRobotPosture
  • ALMotion API

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Audio Playback (WAV Format)

Uploading Audio Files to NAO

Method 1: Using Choregraphe (Ubuntu in Chili Lab)

1. Open Choregraphe.
2. Connect to NAO (Wi-Fi icon should turn green).
3. Navigate: Connect > Advanced > File Transfer.
4. Upload audio files to NAO's shared folder.

Method 2: Using SSH (via transfer_file_to_nao.py)

Example to upload and play an audio file:

remote_audio_path = "/home/nao/audio/wav/lbt_pre_1.wav"
transfer_file_to_nao("audio_file/lbt_pre_1.wav", remote_audio_path, PEPPER_IP, username, password)
audio_player.playFile(remote_audio_path)

Note: If the file is static, upload it once and reuse it.

Playing Audio Files

from proxy import audio_player

nao_file_path = "/home/nao/audio/wav/filename.wav"
audio_player.playFile(nao_file_path)

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Additional Functionalities

Text-to-Speech (TTS)

• Uses ALTextToSpeech (configured in proxy.py).
• Guide: TTS Documentation

Speech Recognition

• Uses ALSpeechRecognition.
• Guide: Speech Recognition Documentation

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Troubleshooting

• Ensure Python 2.7.18 is active when running scripts.
• Verify network connections if NAO is unresponsive.
• Check NAO's battery status via the web interface.

For any issues, refer to the NAOqi official documentation or contact the Chili Lab support team.

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