qipkg tutorial

qipkg lets you make packages the same way Choregraphe does, but from the command line, and also lets you embed code written in C++ or Python inside the package

Usage

First, you need a .pml file. Those are written by Choregraphe when you save your project and look like this:

<package name="run_dialog">

  <!-- Some tags written and read by Choregraphe -->

</package>

A manifest.xml should exist next to the pml file and should at least contain

<package version="0.0.1" uuid="test_package">

Those are the id and the version number used by the PackageManager on the robot

After that, just use:

qipkg make-package my-behavior.pml

to generate a package, or even (if qimessaging python bindings are available)

qipkg deploy-package my-behavior.pml --url nao@nao.local

to call PackageManager.install()

If you need to include code written in C++ or Python, just add them to the .pml file, like this:

<package>

<!-- choregraphe tags -->
  <qibuild name="foo" />
  <qipy name="bar" />

</package>

This assumes you have a qibuild CMake project named foo and a qipy project named bar in your worktree.