## page was renamed from nao/Installation/remote
= Installing ROS on a remote PC to control Nao =

== Prerequisite ==
In order to run a remote ROS bridge, please get sure that you installed all necessary Aldebaran and ROS packages. In doubt, refer to [[nao/Tutorials/Installation| Install Instructions]]

== Install Remote ROS Packages ==
Go inside the src folder inside your catkin workspace. 
{{{
$ cd ~/catkin_ws/src
}}}
If the src folder does not exist, you probably skipped the [[catkin/Tutorials/create_a_workspace]]" step. Go back and do it !

In the src folder, create a .rosinstall file and open it. 
{{{
$ touch .rosinstall
$ vim .rosinstall
}}}

Then copy paste the following text (don’t forget the ‘-’ at the beginning of the lines)
{{{
- git: {local-name: naoqi_bridge, uri: "https://github.com/ros-naoqi/naoqi_bridge.git", version: master}
- git: {local-name: nao_robot, uri: "https://github.com/ros-naoqi/nao_robot.git", version: master}
- git: {local-name: nao_extras, uri: "https://github.com/ros-naoqi/nao_extras.git", version: master}
- setup-file: {local-name: ../devel/setup.bash }
}}}

Save and close. Then, in order to fetch and update the packages from github run the following wstool command
{{{
$ wstool update
}}}

Then, compile and setup your ros workspace
{{{
$ cd ..
$ catkin_make
$ source devel/setup.bash
}}}
!NOTE! It is a good practice to add the following line to your ''.bashrc'' file. It will avoid weird behavior in the future by setting your catkin workspace as the default one. 
{{{
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
}}}

=== C++ bridge installation ===
By default, the previous section only installs the Python version of the bridge. This requires basically no compiling, but rather a linking of python scripts.
There exists also a C++ version, which might be faster to execute.

At this point we assume that you have access to the Naoqi C++ SDK. For this tutorial, we downloaded C++ SDK 2.1 Linux 64. 

Execute the following commands for extracting, installing the SDK and checking the installation. We included a separate cmake file for finding the C++ Naoqi SDK, which requires the ''AL_DIR'' environment variable to point to the installation of the SDK. So we have to set it, preferably inside your ''.bashrc''
{{{
$ echo "export AL_DIR=~/naoqi-sdk-2.1.2.17-linux64" >> ~/.bashrc
$ source ~/.bashrc
$ cd ~/catkin_ws
$ catkin_make
}}}