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. As the software is getting quite old without updates, the least problematic run is on Linux, some Windows setups work and some not, and almost no current Mac installation can be used for the software. With problems on Windows, a viable solution is to use VMware with Ubuntu virtual machine.
• 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
    

  • go on with 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
    

    For the current Ubuntu Linux, you may need to install other packages to obtain the requested lib*.so libraries by running

    sudo apt install libgl-dev libxt6 libxaw7
    

• 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