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:

  1. Compatible with Ubuntu Linux 16.04. 14.04 support is being deprecated.
  2. Capapble of running MOOS and ROS

Non-Software Requirements:

  1. Battery life of at least 3 hours of operation.
  2. 1 or more USB ports.
  3. 1 ethernent port.
  4. Semi-rugged.
  5. Weatherproof.
  6. Similar size to a CF-53.

Install OS

  1. Flash a USB with Ubuntu 16.04.
  2. 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 name AquaX, where X 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.