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Ok... Now it's working, I don't know exactly why.

I had to use a kinect to get a skeleton, so I've installed the necessary, but I had a problem too, which I solved by installing openjdk-7-jdk (explained here), so I guess that solved the problem with the SDK.

But now when I launch nao_full.launch (C++) I get this message more than once per second:

[ERROR] [1431067243.763097195]: memData length 2 does not match expected length 10

Does anyone know why ?

Besides, Is it normal that, even in C++, python node are running ?

NODES
    /
        base_footprint (nao_description/base_footprint)
        diag_agg (diagnostic_aggregator/aggregator_node)
        nao_logger (naoqi_driver/naoqi_logger.py)
        nao_walker (nao_apps/nao_walker.py)
        naoqi_joint_states (naoqi_driver/naoqi_joint_states_cpp)
        naoqi_moveto (naoqi_driver/naoqi_moveto.py)
        pose_controller (nao_pose/pose_controller.py)
        pose_manager (nao_pose/pose_manager.py)
        robot_state_publisher (robot_state_publisher/state_publisher)
    /nao_robot/sonar/right/
        naoqi_sonar (naoqi_sensors/sonar.py)
    /nao_robot/camera/top/
        camera (naoqi_sensors/camera.py)
    /nao_robot/camera/bottom/
        camera (naoqi_sensors/camera.py)
    /nao_robot/microphone/
        naoqi_microphone (naoqi_sensors/microphone.py)
    /nao_robot/sonar/left/
        naoqi_sonar (naoqi_sensors/sonar.py)

Thank you.