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

Before reinstalling the OS:

• Backup all modified files, scripts, code and maps and upload updated version to Github.

During installation:

• You can install a new OS from a USB like you would on any regular personal computer.
• DO NOT use and dashes (-) in the username or password. If you do this you will not be able to use MobileEyes with the Cyborg. There might be other symbols MobileEyes will not accept, so be smart when choosing username and password.
• During the installation process you should select automatic login without password. If you do not do this you will need to use a keyboard whenever you start the Cyborg or write a configuration file in the OS for this.

Installing MobileRobots software

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For more information on setting up ROS kinetic, see ROS Kinetic installation.

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:

• DO NOT use and dashes (-) in the username or password. If you do this you will not be able to use MobileEyes with the Cyborg. There might be other symbols MobileEyes will not accept, so be smart when choosing username and password.
• During the installation process you should select automatic login without password. If you do not do this you will need to use a keyboard whenever you start the Cyborg or write a configuration file in the OS for this.
• The startup script for the startup box must be added to the list of programs that start automatically on startup.
• For Aria to be able to connect to the peripherals you must make one specific Aria file and give your Ubuntu user access to the dialout.
• Dependencies and programs must be installed.
• To state the obvious: make backups of all modified files, scripts, code and maps and place them in the same location.

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

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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

For Aria to be able to connect to the peripherals you must make one specific Aria file and give your Ubuntu user access to the dialout.

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

sudo adduser MyUser <MyUser> dialout