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
First, you need a .pml file. Those are written by Choregraphe when you save your project and look like this:
<Package name="my-package">
<!-- 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="my-package">
Those are the id and the version number used by the PackageManager on the robot
After that, just use:
qipkg make-package my-package.pml
to generate a package, and then (if libqi python bindings are available)
qipkg deploy-package /path/to/my-package.pkg --url nao@nao.local
to deploy and install the package on the robot.
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" />
<qipython name="bar" />
</Package>
This assumes you have a qibuild CMake project named foo and a qipy project named bar in your worktree.
Also note that to include python projects in your package, you should have called qipy bootstrap at least once.