= Instructions to install Pepper software =

* find out the credentials in case you are installing at FI MU
  or at the [https://www.aldebaran.com/en/support/pepper-naoqi-2-9/downloads-softwares Aldebaran page] (Old: Choregraphe, Requested licence key)
* otherwise, you may download the tools from [https://www.aldebaran.com/fr/support/pepper-naoqi-2-9/downloads-softwares Aldebaran] (sections Old: Choregraphe and Old: Pepper SDK, find version 2.5.10) - for [https://community-static.aldebaran.com/resources/2.5.10/Choregraphe/choregraphe-suite-2.5.10.7-linux64-setup.run Linux],
  [https://community-static.aldebaran.com/resources/2.5.10/Choregraphe/choregraphe-suite-2.5.10.7-mac64-setup.dmg Mac] (supports [https://www.bartneck.de/2020/11/10/softbank-robotics-choregraphe-software-incompatible-with-mac-os-x-10-15-catalina/ OS X 10.11 only]), 
  or [https://community-static.aldebaran.com/resources/2.5.10/Choregraphe/choregraphe-suite-2.5.10.7-win32-setup.exe 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
   }}}
* [=#sdk  install] [https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz 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 [http://doc.aldebaran.com/qibuild/beginner/getting_started.html qiBuild] (again for Python 2.7):
  {{{
  sudo pip2 install qibuild paramiko
  }}}
* [=#ssh 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
  }}}