Instructions to install Pepper software

• find out the credentials in case you are installing at FI MU or at the ​Aldebaran page (Old: Choregraphe, Requested licence key)
• otherwise, you may download the tools from ​Aldebaran (sections Old: Choregraphe and Old: Pepper SDK, find version 2.5.10) - for ​Linux, ​Mac (supports ​OS X 10.11 only), or ​Windows
• install Choregraphe:
  • download choregraphe-suite-2.5.10.7-linux64-setup.run
  • run

    chmod +x choregraphe-suite-2.5.10.7-linux64-setup.run
    sudo ./choregraphe-suite-2.5.10.7-linux64-setup.run
    

  • do the default installation to /opt
  • try to run

    "/opt/Softbank Robotics/Choregraphe Suite 2.5/bin/choregraphe_launcher"
    

    in case of error

    /opt/Softbank Robotics/Choregraphe Suite 2.5/bin/../lib/../lib/../lib/libz.so.1: 
    version `ZLIB_1.2.9' not found (required by /usr/lib/x86_64-linux-gnu/libpng16.so.16)
    

    run

    cd "/opt/Softbank Robotics/Choregraphe Suite 2.5/lib/"
    sudo mv libz.so.1 libz.so.1.old
    sudo ln -s /lib/x86_64-linux-gnu/libz.so.1
    

• install ​Python SDK for Linux:
  • install python2-dev or qttools5-dev-tools/qt5-linguist or qt4-linguist-tools
  • download pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
  • run

    cd /usr/local/lib/python2.7/dist-packages
    sudo tar xvfz <where_the_package_is>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
    sudo bash -c "echo /usr/local/lib/python2.7/dist-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages \
         > pynaoqi-python2.7.pth"
    

  • edit /usr/local/bin/qi* and change the first line from

    #!/usr/bin/python
    

    to

    #!/usr/bin/python2
    

  • test with (note that python2 must be old Python 2.7)

    python2 -c 'import qi'
    

  • if something goes wrong, check that:
    • python2 -c 'import sys;print "\n".join(sys.path)' includes /usr/local/lib/python2.7/dist-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages
    • the current user has read access to the files and subdirectories in this directory. You may need

      sudo chmod 755 /usr/local/lib/python2.7/dist-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/
      

• install ​qiBuild (again for Python 2.7):

  sudo pip2 install qibuild paramiko
  

• setup easy ssh access to the robot via the SSH config file

Create a special SSH key using the command:

ssh-keygen -m PEM -t ecdsa -N '' -f ~/.ssh/pepper

Add the following lines to ~/.ssh/config (replace HostName IP address with the actual IP of your robot):

Host pepper
    User nao
    HostName 192.168.0.10
    # IdentityFile is important for install_pkg.py
    IdentityFile ~/.ssh/pepper
    StrictHostKeyChecking no
    PubkeyAuthentication yes