Linux Installation

These instructions tell you how to set up your own Linux environment for the course. When you get access to the hardware each group will be provided with an external SSD disk with the system installed like this that you can boot from on (almost) any computer (the exception being mainly newer versions of Mac).

Install Ubuntu

• Download the 16.04 desktop image from ubuntu.com
• Install ubuntu with user robot/robot
• Make sure that the system is updated

sudo apt-get update 
sudo apt-get dist-upgrade

Install some editors, terminal, etc

• Download and install from https://code.visualstudio.com/download Links to an external site.
  • Install extension for C/C++, python, java, cmake, ROS, ...
• Install some basic packages

  • sudo apt-get install terminator git octave

• Install a wide variety of text editors

  • wget -qO - https://download.sublimetext.com/sublimehq-pub.gpg | sudo apt-key add -
    sudo apt-get install apt-transport-https
    echo "deb https://download.sublimetext.com/ apt/stable/" | sudo tee /etc/apt/sources.list.d/sublime-text.list
    sudo apt-get update
    sudo apt-get install gedit emacs xemacs21 vim vim-gnome sublime-text
    

• Install an image and video editing software and sound recording software

  • sudo apt-get install gimp handbrake gnome-sound-recorder soundconverter vlc vokoscreen

• Install additional python packages
  

  • sudo apt-get install python-numpy python-scipy python-matplotlib ipython ipython-notebook python-pandas python-sympy python-nose python-pip python-dev python-virtualenv python-wstool

Install ROS and OpenCV 3

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full ros-kinetic-libuvc-camera ros-kinetic-qt-create ros-kinetic-aruco python-catkin-tools protobuf-compiler libgoogle-glog-dev libeigen3-dev libxml2-utils ros-kinetic-mav-msgs cmake build-essential genromfs ninja-build inkscape
sudo rosdep init 
rosdep update 
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc

Give yourself the right to use the video receiver

Disconnect the video receiver and run

echo 'SUBSYSTEMS=="usb", ATTRS{idVendor}=="18ec", MODE:="0666", GROUP:="plugdev"' | sudo sh -c 'dd of=/etc/udev/rules.d/99-uvc-receiver.rules 2>/dev/null && udevadm control --reload-rules && udevadm trigger'

Make sure that your user belongs to the `plugdev` group. You test this by issuing the command `id` on the command line which should result in something like

patric@PJZen:~$ id
uid=1000(patric) gid=1000(patric) groups=1000(patric),4(adm),24(cdrom),27(sudo),30(dip),46(plugdev),113(lpadmin),128(sambashare)

If you do not belong to the plugdev group issue the following command

sudo gpasswd -a $USER plugdev

You need to log out and in again for the new group properties to take effect.

Install Crazyflie software

cd ~/ 
mkdir crazyflie_software
cd crazyflie_software

Install toolchain for building firmware and the firmware itself

Instruction can be found here https://github.com/KTH-CAS-UAV/crazyflie-firmware.git Links to an external site.

sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
sudo apt-get update 
sudo apt-get install libnewlib-arm-none-eabi
cd ~/crazyflie_software
git clone --recursive https://github.com/KTH-CAS-UAV/crazyflie-firmware.git
cd crazyflie-firmware
make

Install cfclient

Instructions from https://github.com/bitcraze/crazyflie-clients-python Links to an external site.

cd ~/crazyflie_software
sudo apt-get install python3 python3-pip python3-pyqt5 python3-pyqt5.qtsvg
git clone https://github.com/bitcraze/crazyflie-clients-python.git
cd crazyflie-clients-python
pip3 install -e .

Make sure that the udev rules are set up correctly

sudo touch /etc/udev/rules.d/99-crazyradio.rules

Add the following to the file /etc/udev/rules.d/99-crazyradio.rules

SUBSYSTEM=="usb", ATTRS{idVendor}=="1915", ATTRS{idProduct}=="7777", MODE="0664", GROUP="plugdev"

Install the crazyflie python library

Instructions here https://github.com/bitcraze/crazyflie-lib-python Links to an external site.

cd ~/crazyflie_software
git clone https://github.com/bitcraze/crazyflie-lib-python.git
cd crazyflie-lib-python
pip install transforms3d
pip install -r requirements.txt