Quick The following is a quick guide for setting up the Pioneer LX onboard machine if one needs to reinstall the OS. The same guide applies if setting up your own PC to run the MobileSim simulator offline. This includes setting up the ARIA and ARNL libraries and setting up ROS and dependencies.

Linux Ubuntu 16.04

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

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• 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.
• You should select automatic login without password. If you do not do this you will need to (a) connect a keyboard (and monitor) whenever you start the Pioneer LX or (b) write a configuration file in the OS for this.

Installing MobileRobots software

More detailed description to come

1. Download MobileRobots software libraries from Box (used to be available on MobileRobots web page, but the website has been shut down):
   ARIA (required for
   1. For communication with onboard sensors and actuators and for use with rosaria:
      1. ARIA
   2. For ARNL navigation and ros-arnl (using ARIA)
   ARNL (required for ros-arnl
   1. :
      
      1. ARNL: libarnl_1.9.2a+ubuntu16_amd64.deb
      2. ARNL-BASE: arnl-base_1.9.2+ubuntu16_amd64.deb (must be same version as ARNL)
   1. Add ARIA and ARNL to the filesystem
   2. (optional):
      
      1. Install MobileEyes if you wish to use this software while running arnlServer (included in ARNL) on the Pioneer LX.
      2. Install MobileSIm if you want to run a simulator of the Pioneer LX on your 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 kinetic, see ROS Kinetic installation.

   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

   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.

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