esteve · fmrico · Apr 14, 2018 · Apr 27, 2018 · May 22, 2018 · Apr 14, 2018
diff --git a/README.md b/README.md
@@ -11,6 +11,12 @@ export AL_DIR=/home/NaoQi  <-- Or wherever you installed NaoQi
 export ALDE_CTC_CROSS=$AL_DIR/ctc-linux64-atom-2.5.2.74
 ```
 
+If you want to set the install directory (instead of the project root directory), set the `PEPPER_ROS_BASE_ROOT` environment variable:
+
+```
+export PEPPER_ROS_BASE_ROOT=/home/mihome/pepper_root/  <-- Or wherever you want
+```
+
 ## Prepare cross-compiling environment
 
 We're going to use Docker to set up a container that will compile all the tools for cross-compiling ROS and all of its dependencies. Go to https://https://www.docker.com/community-edition to download it and install it for your Linux distribution.
@@ -57,17 +63,17 @@ Finally! Type the following, go grab a coffee and after a while you'll have an e
 
 ### Copy ROS and its dependencies to the robot
 
-By now you should have the following inside .ros-root in the current directory:
+By now you should have the following inside System in the current directory:
 
-- Python 2.7 built for Pepper (.ros-root/Python-2.7.13)
-- All the dependencies required by ROS (.ros-root/ros1_dependencies)
-- A ROS workspace with ROS Kinetic built for Pepper (.ros-root/ros1_inst)
-- A helper script that will set up the ROS workspace in the robot (.ros-root/setup_ros1_pepper.bash)
+- Python 2.7 built for Pepper (System/Python-2.7.13)
+- All the dependencies required by ROS (System/ros1_dependencies)
+- A ROS workspace with ROS Kinetic built for Pepper (System/ros1_inst)
+- A helper script that will set up the ROS workspace in the robot (System/setup_ros1_pepper.bash)
 
 We're going to copy these to the robot, assuming that your robot is connected to your network, type the following:
 
 ```
-$ scp -r .ros-root nao@IP_ADDRESS_OF_YOUR_ROBOT:.ros-root
+$ sync -avz System User nao@pepper.local:~/
 ```
 
 ### Run ROS 1 from inside Pepper
@@ -83,7 +89,7 @@ $ ssh nao@IP_ADDRESS_OF_YOUR_ROBOT
 *Source (not run) the setup script*
 
 ```
-$ source .ros-root/setup_ros1_pepper.bash
+$ source System/setup_ros1_pepper.bash
 ```
 
 *Start naoqi_driver, note that NETWORK\_INTERFACE may be either wlan0 or eth0, pick the appropriate interface if your robot is connected via wifi or ethernet*
@@ -117,15 +123,15 @@ Let's now build ROS 2 for Pepper:
 
 ### Copy ROS 2 and its dependencies to the robot
 
-Besides the ROS 1 binaries and its dependencies, we'll now a few more directories inside .ros-root in our current directory:
+Besides the ROS 1 binaries and its dependencies, we'll now a few more directories inside System in our current directory:
 
-- Python 3.6 built for Pepper (.ros-root/Python-3.6.1)
-- A ROS 2 workspace built for Pepper (.ros-root/ros2_inst)
+- Python 3.6 built for Pepper (System/Python-3.6.1)
+- A ROS 2 workspace built for Pepper (System/ros2_inst)
 
 We're going to copy these to the robot, assuming that your robot is connected to your network, type the following:
 
 ```
-$ scp -r .ros-root nao@IP_ADDRESS_OF_YOUR_ROBOT:.ros-root
+$ sync -avz System User nao@pepper.local:~/
 ```
 
 ### Run ROS 2 from inside Pepper
@@ -141,7 +147,7 @@ $ ssh nao@IP_ADDRESS_OF_YOUR_ROBOT
 *Source (not run) the setup script*
 
 ```
-$ source .ros-root/setup_ros2_pepper.bash
+$ source System/setup_ros2_pepper.bash
 ```
 
 ROS 2 does not have a something like roslaunch yet, so you'll have to run naoqi_driver directly:

diff --git a/build_ros1.sh b/build_ros1.sh
@@ -5,7 +5,8 @@ PYTHON2_PATCH_VERSION=13
 
 PYTHON2_VERSION=${PYTHON2_MAJOR_VERSION}.${PYTHON2_MINOR_VERSION}.${PYTHON2_PATCH_VERSION}
 
-INSTALL_ROOT=.ros-root
+HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/System"
+PEPPER_INSTALL_ROOT=System
 
 set -euf -o pipefail
 
@@ -17,7 +18,7 @@ fi
 mkdir -p ccache-build/
 mkdir -p pepper_ros1_ws/cmake
 mkdir -p pepper_ros1_ws/src
-mkdir -p ${INSTALL_ROOT}/ros1_inst
+mkdir -p ${HOST_INSTALL_ROOT}/ros1_inst
 
 cp repos/pepper_ros1.repos pepper_ros1_ws/
 cp ctc-cmake-toolchain.cmake pepper_ros1_ws/
@@ -32,41 +33,41 @@ docker run ${USE_TTY} --rm \
   -u $(id -u) \
   -e HOME=/home/nao \
   -e CCACHE_DIR=/home/nao/.ccache \
-  -e INSTALL_ROOT=${INSTALL_ROOT} \
+  -e PEPPER_INSTALL_ROOT=${PEPPER_INSTALL_ROOT} \
   -e PYTHON2_VERSION=${PYTHON2_VERSION} \
   -e PYTHON2_MAJOR_VERSION=${PYTHON2_MAJOR_VERSION} \
   -e PYTHON2_MINOR_VERSION=${PYTHON2_MINOR_VERSION} \
   -e ALDE_CTC_CROSS=/home/nao/ctc \
   -v ${PWD}/ccache-build:/home/nao/.ccache \
-  -v ${PWD}/Python-${PYTHON2_VERSION}-host:/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}:ro \
+  -v ${PWD}/Python-${PYTHON2_VERSION}-host:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}:ro \
   -v ${PWD}/Python-${PYTHON2_VERSION}-host:/home/nao/Python-${PYTHON2_VERSION}-host:ro \
-  -v ${PWD}/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}:/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper:ro \
+  -v ${HOST_INSTALL_ROOT}/Python-${PYTHON2_VERSION}:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper:ro \
   -v ${ALDE_CTC_CROSS}:/home/nao/ctc:ro \
-  -v ${PWD}/${INSTALL_ROOT}/ros1_dependencies:/home/nao/${INSTALL_ROOT}/ros1_dependencies:ro \
-  -v ${PWD}/${INSTALL_ROOT}/ros1_inst:/home/nao/${INSTALL_ROOT}/ros1_inst:rw \
+  -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/home/nao/${PEPPER_INSTALL_ROOT}/ros1_dependencies:ro \
+  -v ${HOST_INSTALL_ROOT}/ros1_inst:/home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst:rw \
   -v ${PWD}/pepper_ros1_ws:/home/nao/pepper_ros1_ws \
   ros1-pepper \
   bash -c "\
     set -euf -o pipefail && \
-    export LD_LIBRARY_PATH=/home/nao/ctc/openssl/lib:/home/nao/ctc/zlib/lib:/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}/lib && \
-    export PATH=/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}/bin:$PATH && \
-    export PKG_CONFIG_PATH=/home/nao/${INSTALL_ROOT}/ros1_dependencies/lib/pkgconfig && \
+    export LD_LIBRARY_PATH=/home/nao/ctc/openssl/lib:/home/nao/ctc/zlib/lib:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}/lib && \
+    export PATH=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}/bin:$PATH && \
+    export PKG_CONFIG_PATH=/home/nao/${PEPPER_INSTALL_ROOT}/ros1_dependencies/lib/pkgconfig && \
     cd pepper_ros1_ws && \
     vcs import src < pepper_ros1.repos && \
     touch src/orocos_kinematics_dynamics/python_orocos_kdl/CATKIN_IGNORE && \
-    ./src/catkin/bin/catkin_make_isolated --install --install-space /home/nao/${INSTALL_ROOT}/ros1_inst -DCMAKE_BUILD_TYPE=Release \
+    ./src/catkin/bin/catkin_make_isolated --install --install-space /home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst -DCMAKE_BUILD_TYPE=Release \
     --cmake-args \
       -DOPENSSL_ROOT_DIR=/home/nao/ctc/openssl \
       -DWITH_QT=OFF \
       -DSETUPTOOLS_DEB_LAYOUT=OFF \
       -DCATKIN_ENABLE_TESTING=OFF \
       -DENABLE_TESTING=OFF \
-      -DPYTHON_EXECUTABLE=/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}/bin/python \
-      -DPYTHON_LIBRARY=/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper/lib/libpython${PYTHON2_MAJOR_VERSION}.${PYTHON2_MINOR_VERSION}.so \
+      -DPYTHON_EXECUTABLE=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}/bin/python \
+      -DPYTHON_LIBRARY=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper/lib/libpython${PYTHON2_MAJOR_VERSION}.${PYTHON2_MINOR_VERSION}.so \
       -DTHIRDPARTY=ON \
       -DCMAKE_TOOLCHAIN_FILE=/home/nao/pepper_ros1_ws/ctc-cmake-toolchain.cmake \
       -DALDE_CTC_CROSS=/home/nao/ctc \
-      -DCMAKE_PREFIX_PATH=\"/home/nao/${INSTALL_ROOT}/ros1_inst\" \
-      -DCMAKE_FIND_ROOT_PATH=\"/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper;/home/nao/${INSTALL_ROOT}/ros1_dependencies;/home/nao/${INSTALL_ROOT}/ros1_inst;/home/nao/ctc\" \
+      -DCMAKE_PREFIX_PATH=\"/home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst\" \
+      -DCMAKE_FIND_ROOT_PATH=\"/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper;/home/nao/${PEPPER_INSTALL_ROOT}/ros1_dependencies;/home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst;/home/nao/ctc\" \
     "
-cp ${PWD}/setup_ros1_pepper.bash ${PWD}/${INSTALL_ROOT}/setup_ros1_pepper.bash
+cp ${PWD}/setup_ros1_pepper.bash ${HOST_INSTALL_ROOT}/setup_ros1_pepper.bash
diff --git a/build_ros1_dependencies.sh b/build_ros1_dependencies.sh
@@ -10,7 +10,9 @@ PYTHON3_PATCH_VERSION=1
 PYTHON2_VERSION=${PYTHON2_MAJOR_VERSION}.${PYTHON2_MINOR_VERSION}.${PYTHON2_PATCH_VERSION}
 PYTHON3_VERSION=${PYTHON3_MAJOR_VERSION}.${PYTHON3_MINOR_VERSION}.${PYTHON3_PATCH_VERSION}
 
-INSTALL_ROOT=.ros-root
+HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"System
+PEPPER_INSTALL_ROOT=System
+
 
 set -euf -o pipefail
 
@@ -26,7 +28,7 @@ cp repos/pepper_ros1.repos pepper_ros1_ws/
 cp ctc-cmake-toolchain.cmake pepper_ros1_ws/
 cp cmake/eigen3-config.cmake pepper_ros1_ws/cmake/
 
-mkdir -p ${INSTALL_ROOT}/ros1_dependencies
+mkdir -p ${HOST_INSTALL_ROOT}/ros1_dependencies
 mkdir -p ros1_dependencies_sources/src
 cp repos/ros1_dependencies.repos ros1_dependencies_sources/
 
@@ -41,22 +43,22 @@ docker run ${USE_TTY} --rm \
   -e CCACHE_DIR=/home/nao/.ccache \
   -e PYTHON2_VERSION=${PYTHON2_VERSION} \
   -e ALDE_CTC_CROSS=/home/nao/ctc \
-  -e INSTALL_ROOT=${INSTALL_ROOT} \
+  -e PEPPER_INSTALL_ROOT=${PEPPER_INSTALL_ROOT} \
   -v ${PWD}/ccache-build:/home/nao/.ccache \
-  -v ${PWD}/Python-${PYTHON2_VERSION}-host:/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}:ro \
+  -v ${PWD}/Python-${PYTHON2_VERSION}-host:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}:ro \
   -v ${PWD}/Python-${PYTHON2_VERSION}-host:/home/nao/Python-${PYTHON2_VERSION}-host:ro \
-  -v ${PWD}/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}:/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper:ro \
+  -v ${HOST_INSTALL_ROOT}/Python-${PYTHON2_VERSION}:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper:ro \
   -v ${ALDE_CTC_CROSS}:/home/nao/ctc:ro \
   -v ${PWD}/pepper_ros1_ws:/home/nao/pepper_ros1_ws:ro \
   -v ${PWD}/ros1_dependencies_sources:/home/nao/ros1_dependencies_sources:rw \
-  -v ${PWD}/${INSTALL_ROOT}/ros1_dependencies:/home/nao/${INSTALL_ROOT}/ros1_dependencies:rw \
+  -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/home/nao/${PEPPER_INSTALL_ROOT}/ros1_dependencies:rw \
   -v ${PWD}/ros1_dependencies_build_scripts:/home/nao/ros1_dependencies_build_scripts:ro \
   ros1-pepper \
   bash -c "\
     set -eu -o pipefail && \
-    export LD_LIBRARY_PATH=/home/nao/ctc/openssl/lib:/home/nao/ctc/zlib/lib:/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}/lib && \
-    export PATH=/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}/bin:$PATH && \
-    export PKG_CONFIG_PATH=/home/nao/${INSTALL_ROOT}/ros1_dependencies/lib/pkgconfig && \
+    export LD_LIBRARY_PATH=/home/nao/ctc/openssl/lib:/home/nao/ctc/zlib/lib:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}/lib && \
+    export PATH=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}/bin:$PATH && \
+    export PKG_CONFIG_PATH=/home/nao/${PEPPER_INSTALL_ROOT}/ros1_dependencies/lib/pkgconfig && \
     cd /home/nao/ros1_dependencies_sources && \
     vcs import src < ros1_dependencies.repos && \
 

diff --git a/build_ros2.sh b/build_ros2.sh
@@ -11,7 +11,8 @@ PYTHON3_PATCH_VERSION=1
 
 PYTHON3_VERSION=${PYTHON3_MAJOR_VERSION}.${PYTHON3_MINOR_VERSION}.${PYTHON3_PATCH_VERSION}
 
-INSTALL_ROOT=.ros-root
+HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"System
+PEPPER_INSTALL_ROOT=System
 
 set -euf -o pipefail
 set -xv
@@ -24,7 +25,7 @@ fi
 mkdir -p ccache-build/
 mkdir -p pepper_ament_ws/src
 mkdir -p pepper_ros2_ws/src
-mkdir -p ${INSTALL_ROOT}/ros2_inst
+mkdir -p ${HOST_INSTALL_ROOT}/ros2_inst
 
 cp repos/pepper_ament.repos pepper_ament_ws/
 cp repos/pepper_ros2.repos pepper_ros2_ws/
@@ -40,24 +41,24 @@ docker run ${USE_TTY} --rm \
   -e HOME=/home/nao \
   -e CCACHE_DIR=/home/nao/.ccache \
   -e PYTHON3_VERSION=${PYTHON3_VERSION} \
-  -e INSTALL_ROOT=${INSTALL_ROOT} \
+  -e PEPPER_INSTALL_ROOT=${PEPPER_INSTALL_ROOT} \
   -v ${ALDE_CTC_CROSS}:/home/nao/ctc \
-  -v ${PWD}/Python-${PYTHON3_VERSION}-host:/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}:ro \
+  -v ${PWD}/Python-${PYTHON3_VERSION}-host:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}:ro \
   -v ${PWD}/pepper_ament_ws:/home/nao/pepper_ament_ws \
   ros2-pepper \
   bash -c "\
     set -euf -o pipefail && \
     set -xv && \
-    export LD_LIBRARY_PATH=/home/nao/ctc/openssl/lib:/home/nao/ctc/zlib/lib:/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}/lib && \
-    export PATH=/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}/bin:\${PATH} && \
+    export LD_LIBRARY_PATH=/home/nao/ctc/openssl/lib:/home/nao/ctc/zlib/lib:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}/lib && \
+    export PATH=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}/bin:\${PATH} && \
     cd pepper_ament_ws && \
     vcs import src < pepper_ament.repos && \
     src/ament/ament_tools/scripts/ament.py build \
 	    --isolated \
 	    --parallel \
       --cmake-args \
 	      -DENABLE_TESTING=OFF \
-        -DPYTHON_EXECUTABLE=/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}/bin/python3 \
+        -DPYTHON_EXECUTABLE=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}/bin/python3 \
       --"
 
 docker run ${USE_TTY} --rm \
@@ -69,42 +70,42 @@ docker run ${USE_TTY} --rm \
   -e PYTHON3_MAJOR_VERSION=${PYTHON3_MAJOR_VERSION} \
   -e PYTHON3_MINOR_VERSION=${PYTHON3_MINOR_VERSION} \
   -e ALDE_CTC_CROSS=/home/nao/ctc \
-  -e INSTALL_ROOT=${INSTALL_ROOT} \
-  -v ${PWD}/Python-${PYTHON2_VERSION}-host:/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}:ro \
-  -v ${PWD}/Python-${PYTHON3_VERSION}-host:/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}:ro \
-  -v ${PWD}/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}:/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper:ro \
-  -v ${PWD}/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}:/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}-pepper:ro \
+  -e PEPPER_INSTALL_ROOT=${PEPPER_INSTALL_ROOT} \
+  -v ${PWD}/Python-${PYTHON2_VERSION}-host:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}:ro \
+  -v ${PWD}/Python-${PYTHON3_VERSION}-host:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}:ro \
+  -v ${HOST_INSTALL_ROOT}/Python-${PYTHON2_VERSION}:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper:ro \
+  -v ${HOST_INSTALL_ROOT}/Python-${PYTHON3_VERSION}:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}-pepper:ro \
   -v ${ALDE_CTC_CROSS}:/home/nao/ctc:ro \
-  -v ${PWD}/${INSTALL_ROOT}/ros1_dependencies:/home/nao/${INSTALL_ROOT}/ros1_dependencies:ro \
-  -v ${PWD}/${INSTALL_ROOT}/ros1_inst:/home/nao/${INSTALL_ROOT}/ros1_inst:ro \
-  -v ${PWD}/${INSTALL_ROOT}/ros2_inst:/home/nao/${INSTALL_ROOT}/ros2_inst:rw \
+  -v ${HOST_INSTALL_ROOT}/ros1_dependencies:/home/nao/${PEPPER_INSTALL_ROOT}/ros1_dependencies:ro \
+  -v ${HOST_INSTALL_ROOT}/ros1_inst:/home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst:ro \
+  -v ${HOST_INSTALL_ROOT}/ros2_inst:/home/nao/${PEPPER_INSTALL_ROOT}/ros2_inst:rw \
   -v ${PWD}/pepper_ros1_ws:/home/nao/pepper_ros1_ws \
   -v ${PWD}/pepper_ament_ws:/home/nao/pepper_ament_ws \
   -v ${PWD}/pepper_ros2_ws:/home/nao/pepper_ros2_ws \
   ros2-pepper \
   bash -c "\
-    export LD_LIBRARY_PATH=/home/nao/ctc/openssl/lib:/home/nao/ctc/zlib/lib:/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}/lib:/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}/lib && \
-    export PKG_CONFIG_PATH=/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}/lib/pkgconfig:/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}/lib/pkgconfig:/home/nao/${INSTALL_ROOT}/ros1_dependencies/lib/pkgconfig:/home/nao/${INSTALL_ROOT}/ros1_inst/lib/pkgconfig && \
-    export PATH=/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}/bin:/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}/bin:\${PATH} && \
+    export LD_LIBRARY_PATH=/home/nao/ctc/openssl/lib:/home/nao/ctc/zlib/lib:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}/lib:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}/lib && \
+    export PKG_CONFIG_PATH=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}/lib/pkgconfig:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}/lib/pkgconfig:/home/nao/${PEPPER_INSTALL_ROOT}/ros1_dependencies/lib/pkgconfig:/home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst/lib/pkgconfig && \
+    export PATH=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}/bin:/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}/bin:\${PATH} && \
     source /home/nao/pepper_ament_ws/install_isolated/local_setup.bash && \
     cd pepper_ros2_ws && \
     vcs import src < pepper_ros2.repos && \
     ament build \
-      --install-space /home/nao/${INSTALL_ROOT}/ros2_inst \
+      --install-space /home/nao/${PEPPER_INSTALL_ROOT}/ros2_inst \
       --isolated \
       --cmake-args \
-        -Dorocos_kdl_DIR=/home/nao/${INSTALL_ROOT}/ros1_inst/share/orocos_kdl \
-        -Dnaoqi_libqi_DIR=/home/nao/${INSTALL_ROOT}/ros1_inst/share/naoqi_libqi/cmake \
-        -Dnaoqi_libqicore_DIR=/home/nao/${INSTALL_ROOT}/ros1_inst/share/naoqi_libqicore/cmake \
+        -Dorocos_kdl_DIR=/home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst/share/orocos_kdl \
+        -Dnaoqi_libqi_DIR=/home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst/share/naoqi_libqi/cmake \
+        -Dnaoqi_libqicore_DIR=/home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst/share/naoqi_libqicore/cmake \
         -DCATKIN_ENABLE_TESTING=OFF \
         -DENABLE_TESTING=OFF \
-        -DPYTHON_EXECUTABLE=/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}/bin/python3 \
-        -DPYTHON2_LIBRARY=/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper/lib/libpython${PYTHON2_MAJOR_VERSION}.${PYTHON2_MINOR_VERSION}.so \
-        -DPYTHON_LIBRARY=/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}-pepper/lib/libpython${PYTHON3_MAJOR_VERSION}.${PYTHON3_MINOR_VERSION}m.so \
+        -DPYTHON_EXECUTABLE=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}/bin/python3 \
+        -DPYTHON2_LIBRARY=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper/lib/libpython${PYTHON2_MAJOR_VERSION}.${PYTHON2_MINOR_VERSION}.so \
+        -DPYTHON_LIBRARY=/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}-pepper/lib/libpython${PYTHON3_MAJOR_VERSION}.${PYTHON3_MINOR_VERSION}m.so \
         -DPYTHON_SOABI=cpython-36m-i386-linux-gnu \
         -DTHIRDPARTY_Asio=ON \
         -DCMAKE_TOOLCHAIN_FILE=/home/nao/pepper_ros2_ws/ctc-cmake-toolchain.cmake \
         -DALDE_CTC_CROSS=/home/nao/ctc \
-        -DCMAKE_FIND_ROOT_PATH=\"/home/nao/pepper_ament_ws/install_isolated;/home/nao/${INSTALL_ROOT}/ros2_inst;/home/nao/pepper_ros2_ws/src/eProsima/Fast-RTPS/thirdparty;/home/nao/${INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper;/home/nao/${INSTALL_ROOT}/Python-${PYTHON3_VERSION}-pepper;/home/nao/${INSTALL_ROOT}/ros1_dependencies;/home/nao/${INSTALL_ROOT}/ros1_inst;/home/nao/${INSTALL_ROOT}/ros2_inst;/home/nao/${INSTALL_ROOT}/ros2_inst/fastcdr;/home/nao/ctc\" \
+        -DCMAKE_FIND_ROOT_PATH=\"/home/nao/pepper_ament_ws/install_isolated;/home/nao/${PEPPER_INSTALL_ROOT}/ros2_inst;/home/nao/pepper_ros2_ws/src/eProsima/Fast-RTPS/thirdparty;/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON2_VERSION}-pepper;/home/nao/${PEPPER_INSTALL_ROOT}/Python-${PYTHON3_VERSION}-pepper;/home/nao/${PEPPER_INSTALL_ROOT}/ros1_dependencies;/home/nao/${PEPPER_INSTALL_ROOT}/ros1_inst;/home/nao/${PEPPER_INSTALL_ROOT}/ros2_inst;/home/nao/${PEPPER_INSTALL_ROOT}/ros2_inst/fastcdr;/home/nao/ctc\" \
       --"
-cp ${PWD}/setup_ros2_pepper.bash ${PWD}/${INSTALL_ROOT}/setup_ros2_pepper.bash
+cp ${PWD}/setup_ros2_pepper.bash ${HOST_INSTALL_ROOT}/setup_ros2_pepper.bash