Robotics: Principles and Practice - Software Installation Guide

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This page provides a step-by-step guide to installing the tools, utilities, and example software for Robotics: Principles and Practice with robot simulators and physical robots on Ubuntu 16.04 with ROS.


Please follow these instructions exactly as they are stated. Do not be tempted to skip through them, assuming that you will be able to figure it out yourself. You might, but it is more likely you will miss something small but important and it won't work as required. Take your time, follow these instructions carefully, and everything will work.


There are two options:

  • Install a VirtualBox Ubuntu 16.04 virtual machine (VM) with everything pre-installed
  • Install all the required tools and utilities directly on a computer running Ubuntu 16.04

We cover both in the following, starting with Option 1

Option 1: VirtualBox Ubuntu 16.04 Virtual Machine

Install VirtualBox

I assume that you are running Windows 10 Pro. Please contact me if you are running a different operating system. For completeness, I have included instructions for Mac OS and Ubuntu (in case you already have Ubuntu but want to use the VM instead of installing all the required tools and utilities).

Windows

Open the VirtualBox Download page at https://www.virtualbox.org/wiki/Downloads and select Windows hosts to download the installation file. Make a note of the version number (it is 6.1.26 at time of writing); you'll need this later when downloading the VirtualBox Extensions Pack.


VirtualBox Download.jpg


Run the downloaded file (VirtualBox-6.1.26-145957-Win.exe at time of writing) and follow the instructions.

To run a VM on Windows 10 you need to enable hardware virtualization in BIOS. Unfortunately, the steps to steps to access BIOS and enable virtualization from the BIOS depends on the PC manufacturer. Normally, BIOS settings can be accessed using the function keys during a restart, i.e. when booting your PC. Try F1, F2, F3, F8, F10, or F12. On some PCs, it’s the ESC, or Delete key. Restart your PC, tap the key about twice per second as soon as the screen turns on. Look for 'Advanced', 'Advanced Mode', or 'Configuration' on the BIOS screen. Now look for the setting which has 'Virtualization' is its name and turn it on. Here are some commonly used names: 'Intel Virtualization Technology', 'AMD-V', 'Hyper-V', 'VT-X', 'Vanderpool', and 'SVM'. Enable it. Now that virtualization support is enabled in the BIOS, you need to enable it on Windows 10. Restart your PC and press the Windows key to get the Search box. Type “turn windows features on or off” and click on it to open it. Scroll down and check the box next to 'Hyper-V'. Click 'OK'. Windows will install the necessary files to enable virtualization. You’ll then be asked to reboot the PC. Click 'Restart Now'. (This is a synopsis of a longer tutorial on enabling virtualization on Windows 10).

MacOS

Download the .dmg installer for OS X systems, execute the file and follow the instructions.

If the VirtualBox installer fail as it is completing the installation, it is probably a problem with a security setting. Go to System Preferences > Security & Privacy. Unlock the changes Click the lock to make changes (if necessary). On the General tab, click the ‘Allow’ button at the bottom and re-run the installer.

Ubuntu Linux

You can install VirtualBox via the Ubuntu Software Center or through command line as follows.

 sudo apt update
 sudo apt install virtualbox

VirtualBox Setup

Download the Virtual Disk Image rpp_vm.vdi from here. It contains a VirtualBox virtual machine with Ubuntu 16.04, ROS Kinetic, and example code pre-installed. Store it in some convenient folder, easily identified folder.


Launch VirtualBox, which you installed in the previous step.

In VirtualBox, you first need to create a new virtual machine. Click on the 'New' button.


VirtualBox Configuration 1.jpg


Usually the guided menu will open. Change to expert mode,


VirtualBox Configuration 2.jpg


In the expert menu:

  • Set the name to rpp-vm
  • Select 'Linux' for the operating system type
  • Select 'Ubuntu (64-bit)' for the operating system version
  • Set the VM's memory size (RAM); choose 4096 MB or more if your PC's capacity allows; we set it to 8192 MB in the screenshot
  • Select 'Use an existing virtual hard disk file'
  • Using the button on the right, open the file explorer and browse to where you stored rpp-vm.vdi


VirtualBox Configuration 3.jpg


Next, we select several important settings. Choose the newly created VM and click on 'Settings'.


VirtualBox Configuration 4.jpg


Click on 'System' and 'Processor' and choose how many processor cores you want to allocate to the VM. Here, we have allocated four cores.


VirtualBox Configuration 5.jpg


Next, ...

Everything is now set up. The VM can now be started. When Ubuntu 16.04 boots, log into the only account with the username rpp and password rpp.

Option 2: Installation of All Required Tools and Utilities on a Computer running Ubuntu 16.04

Ubuntu 16.04

If you don’t already have it, install Ubuntu 16.04

You can get an Ubuntu 16.04 image here.

There is a tutorial on installing Ubuntu 16.04 alongside Windows 10 (dual boot) here.

Disclaimer: I have not validated this tutorial. If you know of a better one, please tell me





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