GitHub - NaoHTWK/LolaConnector: This is some example code about how to connect to the LoLA socket in Nao v6.

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This is some example code about how to connect to the LoLA socket in Nao v6.

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Name		Name	Last commit message	Last commit date
Latest commit History 1 Commit
msgpack		msgpack
CMakeLists.txt		CMakeLists.txt
LICENSE		LICENSE
README		README
battery.h		battery.h
cross-config.cmake		cross-config.cmake
fsr.h		fsr.h
imu.h		imu.h
joints.h		joints.h
leds.cpp		leds.cpp
leds.h		leds.h
lola_connector.cpp		lola_connector.cpp
lola_connector.h		lola_connector.h
lola_frame.cpp		lola_frame.cpp
lola_frame.h		lola_frame.h
point_3d.h		point_3d.h
stl_ext.h		stl_ext.h

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Using LoLA on Nao v6 with CMake

Download the toolchain. ;)
Run path-to-toolchain/yocto-sdk/relocate_qitoolchain.sh
!!! After this the toolchain can't be moved or copied to other devices anymore!

Set the correct path in cross-config.cmake (replace path-to-toolchain with the right folder).

Build the example:
mkdir build
cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=../cross-config.cmake
make

Start ./lola_connector on the robot and have fun! :)

Check out lola_connector.cpp to see where you can plug in your walking engine.

If you have questions or are interested in any other modules feel free to contact us at naohtwk@gmail.com.