Update on nao_openni

As a first task for my master thesis I had to make the "nao_openni" packedge work with a NAO robot and a Kinect.
A demo of this application is shown here:

http://www.youtube.com/watch?v=rSKRgasUEko  

I am going to write here all the stuff I've tried even though not all of it was successful.
There are tree kind of packages you need  in order to connect the two devices:

- packages for NAO robot
 http://www.aldebaran-robotics.com/en

- packages for Kinect - free software for the Microsoft Kinect
 http://openkinect.org/wiki/Main_Page

- packages of ROS (Robot Operating System)
 http://www.ros.org/wiki/

Compatibility issues:

First of all I had to choose an operating system on witch to install the software.
Because of the administrator rights I didn't have on my lab computer I first tried to install all of them on my laptop that is a DELL Inspiron 6400.
My ATIX1400 graphical card doesn't have a good Linux driver so I first tried to install all the software on Win7.

Step 1:All went fine with the packedges for Kinect:
http://openkinect.org/wiki/Getting_Started#Windows 

Although, I don't recommend it because it is the most time consuming solution.
If in Win7 you can do it in 2 hours by using CMake for all the dependencies and so on in Ubuntu it is done by writing 4 lines(see the tutorial).

Step 2 was to install Choreograph 10, the latest version of the software for NAO.
Being new to the robot I didn't have any idea about the version of software the robot  had on it.

For a while I tried to understand why my Choreographe and NaoQi seemed to have different versions (when I tried to connect to the robot by direct plug in of the utp cable) I had a warning that I was using different versions of Choreographe and NaoQi.
I flashed the key for NAO and tried again. Because the robot software hadn't been updated for a while the latest version of Choreograph was impossible to use. 

Step 3: Installing ROS on Win7 is not fully supported so I followed this tutorial to installing it on cygwin:
 http://mplab.ucsd.edu/~ting/notes/ros/ros-cygwin.html

The examples from the tutorial worked fine but when trying to make the "nao_openni package" work several things started crushing so after two or three days of getting the dependencies I just gave up.