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

Name		Name	Last commit message	Last commit date
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.