RPL Scripts

Commonly used scripts for new computers installed at the RPL lab.

Support

Note: The current version of Ubuntu used at RPL is 20.04LTS with ROS Noetic

• Ubuntu 16.04LTS, 18.04LTS, 20.04LTS
• ROS Kinetic, Melodic, Noetic

Installation Instructions

Basic Setup: git, cmake

1. Install basic GIT and cmake packages:

sudo apt-get install git cmake cmake-curses-gui terminator vim net-tools

2. Configure GIT, with your own credentials:

git config --global user.name "FirstName LastName"
git config --global user.email "[email protected]"
git config --global color.pager true
git config --global color.ui auto

3. Create new SSH key (public/private rsa key pair), with your own credentials:

ssh-keygen -t rsa -C "[email protected]"

4. Add RSA identity to the authentication agent:

ssh-add
cat ~/.ssh/id_rsa.pub

5. Add the extracted ssh-rsa key into your host ssh keys, e.g. for github in github-keys (https://github.com/settings/keys).

6. Add the following to your ~/.baschrc:

parse_git_branch() {
     git branch 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/ (\1)/'
}
export PS1="\u@\h \[\033[32m\]\w\[\033[33m\]\$(parse_git_branch)\[\033[00m\] $ "

7. Install the basic dependencies

git clone https://github.com/rpl-as-ucl/RPL-Scripts.git
cd RPL-Scripts
sudo chmod u+x basic_setup.sh
./basic_setup.sh

| For noetic, there is a crash. Run:

> sudo apt -o Dpkg::Options::="--force-overwrite" --fix-broken install

8. Add those, after adding your ROS version (kinetic,melodic) into your .bashrc file (thus updating your ENV variables) and restart the terminal (or source ~/.bashrc). Replace ROS_VERSION with either [kinetic, melodic, noetic] depending on which version you installed:

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

9. Dependencies for building packages.

For python2 (in kinetic, melodic):

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo rosdep init
rosdep update

For python3 (in noetic):

sudo apt install python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt install python3-catkin-tools python3-osrf-pycommon
sudo rosdep init
rosdep update

10. Video/Images Tools

sudo apt install gimp inkscape openshot handbrake

Installing PCL/OpenCV

For kinetic, melodic:

For noetic:

sudo apt install ros-noetic-perception-pcl ros-noetic-pcl-*
sudo apt install ros-noetic-cv-bridge
sudo apt install ros-noetic-openni2-*
sudo apt-get install ros-noetic-tf2-tools

Installing RealSense

For kinetic, melodic:

sudo apt-get install ros-melodic-realsense2-*
sudo mv 99-realsense-libusb.rules /etc/udev/rules.d/

For noetic:

Installing WiFi Adapter (Brostrend AC1200 Realtek Semiconductor Corp.)

For Ubuntu 18.04LTS:

sudo apt update
sudo apt install dkms bc git
git clone https://github.com/cilynx/rtl88x2BU_WiFi_linux_v5.3.1_27678.20180430_COEX20180427-5959
sudo dkms add ./rtl88x2BU_WiFi_linux_v5.3.1_27678.20180430_COEX20180427-5959
sudo dkms install -m rtl88x2bu -v 5.3.1
sudo modprobe 88x2bu

For Ubuntu 20.04LTS:

Installing NVIDIA Drivers

For Ubuntu 18.04LTS:

ubuntu-drivers devices
sudo ubuntu-drivers autoinstall

For Ubuntu 18.04LTS:

Installing VRviz Drivers (Ubuntu 18.04 LTS)

For Ubuntu 18.04LTS:

> sudo apt-get install libglew-dev libassimp-dev
> sudo add-apt-repository multiverse
> sudo apt install steam
> sudo apt install steam-devices
> sudo apt install libvulkan1
> steam

For Ubuntu 18.04LTS:

Installing Acrobar Reader

For Ubuntu 22.04LTS:

> sudo apt update
> sudo apt upgrade
> wget -O ~/adobe.deb ftp://ftp.adobe.com/pub/adobe/reader/unix/9.x/9.5.5/enu/AdbeRdr9.5.5-1_i386linux_enu.deb
> sudo dpkg --add-architecture i386
> sudo apt install libxml2:i386 libcanberra-gtk-module:i386 gtk2-engines-murrine:i386 libatk-adaptor:i386 libgdk-pixbuf-xlib-2.0-0:i386
> sudo dpkg -i ~/adobe.deb
> acroread

Setting up Nvidia Jetson Orin Developer Kit

After having run through the Ubuntu setup, check your L4T version first to see if you have a unit flashed with older version of the BSP:

> cat /etc/nv_tegra_release

If L4T version is older than "# R34 (release), REVISION: 1.0 or ..." do:

> sudo bash -c 'echo "deb https://repo.download.nvidia.com/jetson/common r34.1 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list'
> sudo bash -c 'echo "deb https://repo.download.nvidia.com/jetson/t234 r34.1 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list'

If your version is R34 or newer, then put the following (which in total can take up to an hour):

> sudo apt update
> sudo apt dist-upgrade
> sudo reboot
> sudo apt install nvidia-jetpack

Your Jetson Orin developer kit is not setup with the latest Nvidia jetpack version.

For further information or clarification see installation guide.