= 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/en/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]. 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  [https://community-static.aldebaran.com/resources/2.5.10/Choregraphe/choregraphe-suite-2.5.10.7-linux64-setup.run 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
   }}}
* [=#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 Python 2:
   * if your distribution supports Python 2, install `python2-dev` or `qttools5-dev-tools`/`qt5-linguist` or `qt4-linguist-tools`
   * otherwise
     1. download [https://nlp.fi.muni.cz/projects/pepper/pyenv_install.sh pyenv_install.sh]
     2. edit it, set `PEPPER_ROOT` to your base Pepper directory. In our case `PEPPER_ROOT=/nlp/projekty/pepper`.
     3. install [https://github.com/pyenv/pyenv/wiki#suggested-build-environment Python build dependencies] (for Ubuntu, the build dependencies are installed when running the script)
     4. run `sh pyenv_install.sh`
     5. the installed Python 2 is then linked as `$PEPPER_ROOT/pyenv/bin/python2` and its `site_packages` as `$PEPPER_ROOT/pyenv/site_packages`.
 * download [https://community-static.aldebaran.com/resources/2.5.10/Python%20SDK/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz pynaoqi-python2.7-2.5.7.1-linux64.tar.gz]
 * run
   {{{
   export `grep ^PEPPER_ROOT= pyenv_install.sh`
   cd $PEPPER_ROOT/pyenv/site-packages
   tar xvfz <where_the_package_is>/pynaoqi-python2.7-2.5.7.1-linux64.tar.gz
   echo $PEPPER_ROOT/pyenv/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages \
        > pynaoqi-python2.7.pth
   }}}
 * test with
   {{{
   $PEPPER_ROOT/pyenv/bin/python2 -c 'import qi; print qi'
   }}}
 * if something goes wrong, check that:
   * `$PEPPER_ROOT/pyenv/bin/python2 -c 'import sys;print "\n".join(sys.path)'` includes `$PEPPER_ROOT/pyenv/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages` (where `$PEPPER_ROOT` is your base Pepper directory).
   * the current user has ''read access'' to the files and subdirectories in this directory. You may need 
     {{{
sudo chmod 755 $PEPPER_ROOT/pyenv/site-packages/pynaoqi-python2.7-2.5.7.1-linux64/lib/python2.7/site-packages/
}}}
 * edit `/usr/local/bin/qi*` and change the first line from
   {{{
   #!/usr/bin/python
   }}}
   to
   {{{
   #!/usr/bin/python2
   }}}
* 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
  }}}