141 lines
3.4 KiB
Markdown
141 lines
3.4 KiB
Markdown
# PepperPlus-RI
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The robot interface is a high-level API for controlling the robot. It implements the API as designed: https://utrechtuniversity.youtrack.cloud/articles/N25B-A-14/RI-CB-Communication.
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This is an implementation for the Pepper robot, using the Pepper SDK and Python 2.7 as required by the SDK.
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## Installation
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### Linux (or WSL)
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Start off by installing [Pyenv](https://github.com/pyenv/pyenv?tab=readme-ov-file#installation) and walk through the steps outlined there (be sure to also add it to PATH). Also install the [Python build requirements](https://github.com/pyenv/pyenv/wiki#suggested-build-environment). Afterwards, install Python 2.7 and activate it for your current shell:
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```bash
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pyenv install 2.7
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pyenv shell 2.7
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```
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You can check that this worked by typing
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```bash
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python -V
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```
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Which should return `Python 2.7.18`.
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Next, `cd` into this repository and create (and activate) a virtual environment:
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```bash
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cd <path to project>/
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python -m pip install virtualenv
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python -m virtualenv .venv
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source .venv/bin/activate
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```
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We depend on PortAudio for the `pyaudio` package, so install it with:
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```bash
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sudo apt install -y portaudio19-dev
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```
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Install the required packages with
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```bash
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pip install -r requirements.txt
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```
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Now we need to install the NaoQi SDK into our virtual environment, which we need to do manually. Begin by downloading the SDK:
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```bash
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wget https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
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```
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Next, move into the `site-packages` directory and extract the file you just downloaded:
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```bash
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cd .venv/lib/python2.7/site-packages/
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tar xvfz <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
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rm <path to SDK>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
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```
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Lastly, we need to inform our virtual environment where to find our newly installed package:
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```bash
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echo <path to project>/.venv/lib/python2.7/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/ > pynaoqi-python2.7.pth
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```
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That's it! Verify that it works with
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```bash
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python -c "import qi; print(qi)"
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```
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You should now be able to run this project.
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### macOS
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Similar to Linux, but don't bother installing `pyenv` as it won't be able to install Python 2 on Apple Silicon. Instead, install Python 2.7.18 from the [Python website](https://www.python.org/downloads/release/python-2718/).
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Create the virtual environment as described above in the Linux section. Stop at the point where it shows you how to download the NaoQi SDK. Instead, use:
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```shell
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curl -OL https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-mac64.tar.gz
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```
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Then resume the steps from above.
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## Usage
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On Linux and macOS:
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```shell
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PYTHONPATH=src python -m robot_interface.main
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```
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On Windows:
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```shell
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$env:PYTHONPATH="src"; python -m robot_interface.main
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```
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With both, if you want to connect to the actual robot (or simulator), pass the `--qi-url` argument.
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## Testing
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To run the unit tests, on Linux and macOS:
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```shell
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PYTHONPATH=src pytest test/
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```
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On Windows:
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```shell
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$env:PYTHONPATH="src"; pytest test/
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```
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### Coverage
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For coverage, add `--cov=robot_interface` as an argument to `pytest`.
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## GitHooks
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To activate automatic commits/branch name checks run:
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```shell
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git config --local core.hooksPath .githooks
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```
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If your commit fails its either:
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branch name != <type>/description-of-branch ,
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commit name != <type>: description of the commit.
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<ref>: N25B-Num's
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