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Quick guide for setting up the Pioneer LX onboard machine when reinstalling the OS. The same guide applies if setting up an external machine your own PC to run the MobileSim simulator offline.

Linux Ubuntu 16.04

The Pioneer LX is currently running Linux Xubuntu 16.04 on its onboard computer.

ROS Kinetic setup

Robot Operating System (ROS) version ROS Kinetic (requires Ubuntu 16.04) is installed on the Pioneer LX.

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For more information on setting up ROS:

Installing MobileRobots software

  • Add ARIA to the filesystem
  • Add ARNL to the filesystem

Downloading the software

  • Available on Box (used to be availible on MobileRobots web page, but this website has been shut down):
    • ARIA
    • ARNL
    • MobileSim

Quick pointers

There is a good chance that someone will need to re-install the OS of the robot base in the future. If you for some reason need to re-install the OS on the Pioneer LX, there is a few critical things to remember:

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You can install a new OS from a USB like you would on any regular personal computer.

Make the startup script auto-run at login

Small changes to the procedure may be needed for other Ubuntu versions. For Xubuntu 16.04 the following proceedure works:

  1. Open the Settings Manager.
  2. Go to the Session and Startup configuration.
  3. Under the sub-menu Application Autostart you can add and configure what applications and scripts will run at start.
  4. The startup script I created is added under the name start script. The command I used can be found below.

The Correct Command Entry

I wanted the script to run in a new terminal window so it would be easier to terminate it. If it is not launched in a terminal window, we would have to use a process manager like Htop to terminate the script in stead of just closing the terminal. To run the script in a new terminal I enter the following command in the command entry for the start script discussed above:

xfce4-terminal --command "python /home/cyborg/start_scripts/start.py"

Add User to Dialout

Use the following command, but change MyUser to the user name of the Cyborg’s Ubuntu user:

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