.. _install:

How to install it
=================

.. toggle_table::
  :arg1: catkin
  :arg2: qibuild

.. toggle:: catkin

  **Binary:**

  If you are in a ROS environment, you followed the official `instructions <http://wiki.ros.org/ROS/Installation>`_.

  The easiest therefore is to install the official binary:

  .. code-block:: console

    sudo apt-get install ros-.*-naoqi-driver

  **From source:**

  If you want to help develop the bridge or simply want to checkout the latest version, follow the steps below to compile from source. It will use catkin to compile, so in case you are not familiar with, don't forget to follow the official `catkin tutorials <http://wiki.ros.org/catkin/Tutorials>`_. On Ubuntu, it is:

  .. code-block:: console

    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src
    git clone https://github.com/ros-naoqi/naoqi_driver.git
    # make sure you get all the dependencies installed
    rosdep install -i -y --from-paths ./naoqi_driver
    # build
    source /opt/ros/indigo/setup.sh
    cd ../ && catkin_make

.. toggle:: qibuild

  **Requirement:**

  The naoqi driver module is made to be compiled with qibuild so you first need to install it:

  .. code-block:: console

    pip install qibuild

  To set up your environment and start using qibuild, run the following commands:

  .. code-block:: console

    mkdir ~/qibuild_ws
    cd ~/qibuild_ws
    qibuild init

  If you encounter any issue, please refer to `qibuild documentation <http://doc.aldebaran.com/qibuild/>`_.

  When qibuild compiles, it will only look for dependencies within a toolchain, so one needs to be created.

  .. code-block:: console

    # Create the toolchain
    qitoolchain create <tc_name>
    qibuild add-config <tc_name> -t <tc_name>

  By default, qitoolchains don't come with ROS packages. So we need to add them manually.

  .. code-block:: console

    # Add a package that will find your local ROS installation
    cd ~/qibuild_ws
    git clone https://github.com/ros-naoqi/ros-toolchain.git
    ./ros-toolchain/update_toolchain.sh local_ros <tc_name>

  Download the dependencies of the alrosbridge:

  .. code-block:: console

    cd ~/qibuild_ws
    qisrc add https://github.com/aldebaran/gtest.git
    qisrc add https://github.com/aldebaran/libqiprobes.git
    qisrc add https://github.com/aldebaran/libqicore.git
    qisrc add https://github.com/aldebaran/libqi.git

  Download this project and compile it:

  .. code-block:: console

    cd ~/qibuild_ws
    qisrc add https://github.com/ros-naoqi/naoqi-driver.git
    cd naoqi_driver
    qibuild configure -c <tc_name>
    qibuild make -c <tc_name>

  Once compilation is over, the resulting binary will be in *~/qibuild_ws/naoqi_driver/build-<tcname>/sdk/bin/naoqi_driver_node*

  If you encounter any compilation issue, (unable to find some dependencies), you might need to install them (through *apt-get install* for instance)

  Once you successfully compiled the module, you can learn how to use it on the :ref:`Getting started page <start>` or you can go back to the :ref:`index <main menu>`.