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SwarmieInstall.md

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This guide takes you through the installation of Ubuntu 16.04 server on a swarmie.

You'll need the following:

  1. A USB bood flash with Ubuntu 16.04 LTS
  2. A monitor that accepts HDMI and a cable.
  3. A keyboard (mouse optional)
  4. A wired network connection

Install Ubuntu

Plug the flash key, monitor and keyboard. Start the NUC and press F10 to get the boot menu. The flash key will show up twice in the menu. Pick the UEFI option. Follow the prompts to install Ubuntu. Use the default setting unless you see an exception in the list below.

Here are some noatble things to watch for:

  1. Set the hostname to the name of the swarmie in all lower case (e.g. lovelace)
  2. Set username of the first user to "robot" password "Cabri11o"
  3. Unmount the partitions in use: YES
  4. Partition Disks: Select "Guided - use entire disk" (be sure to select the default 36G disk in the next screen)
  5. Write changes to disk: YES
  6. Software selection: Select OpenSSH server and continue

After installation is complete the NUC will reboot. Login with the robot user. Now update the software on the system:

sudo apt-get update
sudo apt-get dist-upgrade

After the process completes reboot again.

Connect the WiFi

In order to connect the WiFi you'll have to install some packages. Do the follwing steps with the Ethernet still plugged in. Afterwards you'll be able to reboot and be on the special Swarmathon WiFi.

sudo apt-get install wpasupplicant wireless-tools

Now replace the ENTIRE contents of the /etc/network/interfaces file with this:

# This file describes the network interfaces available on your system
# and how to activate them. For more information, see interfaces(5).

source /etc/network/interfaces.d/*

# The loopback network interface
auto lo
iface lo inet loopback

# The primary network interface
# auto eno1
iface eno1 inet dhcp

auto wlp2s0  
iface wlp2s0 inet dhcp
        wpa-ssid Swarmathon
        wpa-psk Cabri11o

iface wlp2s0 inet6 auto

Unplug the Ethernet and reboot the rover. You should have a WiFi connection. Test it with this command:

ping www.google.com

Install ROS

Now you must install the Robot OS packages. Start by enabling the ROS repos:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

Now setup keys:

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

This fetches the new package lists:

sudo apt-get update

Now you can install all of ROS:

sudo apt-get install ros-kinetic-desktop-full

This will take a while! After it's done you need to initizlize ROS:

sudo rosdep init
rosdep update

Now make sure that the robot user knows where to find ROS files:

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

Now install catkin and other ROS tools and libraries:

sudo apt-get install python-catkin-tools ros-kinetic-robot-localization ros-kinetic-hector-gazebo-plugins ros-kinetic-joystick-drivers avahi-daemon ros-kinetic-zeroconf-avahi ros-kinetic-video-stream-opencv emacs-nox

Install Cryptographic Secrets

Talk to Carter about how to download the SSH identity onto the new rover. Or read this (https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent)[https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent]

Setup the Swarmathon Repo

When you have the secrets installed you can connect to the repo.

Clone this GitHub repository to your home directory (~), renaming the repo so ROS and catkin can properly identify it:

cd ~
git clone [email protected]:BCLab-UNM/SwarmathonTNG.git

Change your current working directory to the root directory of the downloaded repo:

cd ~/SwarmathonTNG

Set up ublox GPS submodule:

git submodule init
git submodule update

Build the project:

catkin build

Make sure that the project is in your path:

echo "source ~/SwarmathonTNG/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Setup Hardware Permissions

You must give the robot user access to the hardware peripherals that drive the robtot. Adding the user to the dialout gives them permission to modem-like things. The two Arduinos on the rover appear to be modems.

sudo usermod -a -G dialout,video robot

You will have to logout and back in again for this change to take effect.

Install Arduino

It's extremely helpful to have the Arduino software installed on the Swarmie.

cd /tmp
wget https://downloads.arduino.cc/arduino-1.8.3-linux64.tar.xz
cd /opt
sudo tar -xvf /tmp/arduino-1.8.3-linux64.tar.xz 
sudo ln -s arduino-1.8.3/ arduino

Verify that you can upload code to the Arduino:

~/SwarmathonTNG/misc/build_arduino.sh