Version 25 (modified by 2 months ago) (diff) | ,
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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)
runcd "/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 requestedlib*.so
libraries by runningsudo apt install libgl-dev libxt6 libxaw7
- download
- install Python SDK for Linux:
- install
python2-dev
orqttools5-dev-tools
/qt5-linguist
orqt4-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
- 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
(replaceHostName
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