Setup Steps
These are the instructions to prepare a MOKAI computer for the Aquaticus program. The inputs are a flashable laptop and some software packages, and the outputs are a computer that is ready to be plugged into a MOKAI's sensors and deployed.
Compatible Computers
This procedure has been successful on the Panasonic Toughbook CF-53. If you are using a different model, we can leave you with a rough outline of requirements, but you are mostly on your own:
Software Requirements:
- Compatible with Ubuntu Linux 16.04. 14.04 support is being deprecated.
- Capapble of running MOOS and ROS
Non-Software Requirements:
- Battery life of at least 3 hours of operation.
- 1 or more USB ports.
- 1 ethernent port.
- Semi-rugged.
- Weatherproof.
- Similar size to a CF-53.
Install OS
- Flash a USB with Ubuntu 16.04.
- Boot from the USB. Perform the default installation of 16.04. Set up the admin account with username
student
, and ask for the password, and machine nameAquaX
, whereX
is the laptop's sequential number in the lab.
Install Software
install (via apt-get install
) ssh
, emacs
, espeak
.
Install MOOS Software
Install and build each of the following trees into the user's home directory. For each tree, perform the following procedure:
svn checkout [TREE_LOCATION] [LOCAL_NAME] cd [LOCAL_NAME] mkdir build rm -rf build/* ./build.sh
The build step may take a few minutes.
moos-ivp
tree:
TREE_LOCATION = ssh+svn:[USER]@oceanai.mit.edu:/home/svn/repos/moos-ivp/trunk LOCAL_NAME = moos-ivp
moos-ivp-aquaticus
tree:
TREE_LOCATION = ssh+svn:[USER]@oceanai.mit.edu:/home/svn/repos/moos-ivp-aquaticus/trunk LOCAL_NAME = moos-ivp-aquaticus
moos-ivp-colregs
tree:
TREE_LOCATION = ssh+svn:[USER]@oceanai.mit.edu:/home/svn/repos/moos-ivp-colregs/trunk LOCAL_NAME = moos-ivp-colregs
Configuring Serial Devices
Follow the instructions at the page on configuring serial devices for use with MOOS.
Configuring Networking
Go to Network Connections
settings (shortcut: the wifi indicator in the top bar has a dropdown; click on Edit Connections
). Select option under Ethernet
and hit Edit
. Go to IPv4 Settings
tab, and set it as follows:
Method Manual Address 192.168.1.X [Where X is the computer's number, e.g. Aqua1, Aqua2, Aqua3,...] Netmask 255.255.255.0 Gateway 192.168.1.1 DNS Server 8.8.8.8
and then save.