NAOqi Changes

autolaunch.py is no longer used

The functionnality (running autodiagnostic, switching leds on during boot up), is now implemented in C++ in naoqi-bin executable.

Loading modules

To have your module loaded at naoqi startup, the syntax of the autoload.ini has changed.

The file is still located in ~/naoqi/preferences/autoload.ini

Note

The systen ‘autoload.ini’ is now in /etc/naoqi/autoload.ini , but your are strongly advised to NOT changed it.

old :


            
             [core]
....

[extra]
....

mymodule

            
           

new :


            
             [user]
/full/path/to/libmymodule.so

            
           

This way you can put your module where you want, and you do not have to copy/paste the autoload.ini from the system anymore.

You can also start programs (or remote’s modules) using the [program] tag:


            
             [program]
/full/path/to/mymodule
# or
/full/path/to/myfolder/whatever/mymodule

            
           

You have the same process to work with python script using [python] tag:


            
             [python]
/full/path/to/mypythonscript.py
# or
/full/path/to/myfolder/whatever/mypythonscript.py

            
           

Note for C++ developpers: on linux, the module libraries used to be loaded with RTLD_LAZY , now the modules are loaded with RTLD_NOW .

Thus, if on 1.10 you had unresolved symbols in your module you could crash naoqi, and on 1.12 your module will simply not load, giving an error message looking like:


            
             [ERROR] Could not load library: /home/nao/naoqi/lib/naoqi/libmymodule.so
[ERROR] Error was:      Launcher::loadLibrary
       Could not load library: "/home/nao/naoqi/lib/naoqi/libmymodule.so"
Error was:  /home/nao/naoqi/lib/naoqi/libmymodule.so: undefined symbol:
  ...

            
           

If you don’t know what this means, don’t worry, most of the time you will not be impacted by this change.

Using custom Python libraries in your behaviors

Please put your modules in:

~/.local/lib/python2.6

This way there is no need to tweak PYTHONPATH or messing up with sys/.path anymore.

ALPreferences module

Previously, we had a very confusing situation:

  • writePrefFile("foo") would write in .config/naoqi/foo.xml , but
  • writePrefFile("foo.xml") would write in /full/path/to/foo.xnml

Now:

  • writePrefFile("foo") will create a file in ~/.config/naoqi/foo.xml