This document provides all the steps for configuring your environment.

There is two kind of environment to configure. You can either configure a production environment, which is the environment that is running on the submarine. Or you can also configure a development environment, that is going to help you to develop our softwares.

Once you have correctly installed and configured you environment, you are ready to use our softwares. In order to simplify the usage of S.O.N.I.A. Software, we are using a single git repository that regroup all the modules that we use as git submodule.

This repository is located at and you will have to be part of the SONIA organisation to access it. If it is not the case yet, please ask an administrator to add you. This repository is composed of several branches:

  • ros_sonia_ws:core - Barbones environment for running the submarine
  • ros_sonia_ws:desktop - Full environment for development.

You will find the details on how to install and configure you environment on all the specific sections:

Configure Production Environment

Use root as default user

Set the password of the root user:

sudo passwd root
sudo usermod -U root

Then login with root and delete the user sonia:

userdel sonia
rm -rf /home/sonia

If you are installing an Ubuntu Desktop version, you can type this command to allow you to boot with root user graphically:


sudo bash -c “echo -e "[SeatDefaults]\ngreeter-show-manual-login=true" >> /etc/lightdm/lightdm.conf”

Installing the dependencies

Add the partner repositories in the source list:

sed -i '/http:\/\/\/ubuntu trusty partner/s/^# //g' /etc/apt/sources.list

You can now install the upgrade and required packages:

aptitude update
aptitude upgrade -y
aptitude dist-upgrade -y
aptitude install -y \

Install Devices Modules

Type this command in order to list the modules needed by your system:


Add the recommended modules into your /etc/modules.

You can now check the temperature of the CPU by using sensors command.

Configure Log disk

Fist, mount the disk and create a symlink to the mount point:

ln -s $HOME /sonia
mkdir -p /sonia/log
mount /dev/sdb1 /sonia/log

In order to configure the log disk, simply add this line at the end of you /etc/fstab file:

echo "/dev/sdb1    /sonia/log    ext4    errors=remount-ro    0    0" >> /etc/fstab

Installing the Network

Configure the network interface to use the IP Open the file /etc/network/interfaces, it should look like this:

# This file describes the network interfaces available on your system
# and how to activate them. For more information, see interfaces(5).

# The loopback network interface
auto lo
iface lo inet loopback

# The primary network interface
auto em1
iface em1 inet static

You can now restart the networking service and restart network interfaces:

/etc/init.d/networking restart
ifdown em1
ifup em1

Now configure the SSH

cp /etc/ssh/sshd_config /etc/ssh/sshd_config.original
chmod a-w /etc/ssh/sshd_config.original
sed -i -- 's/PermitRootLogin without-password/PermitRootLogin yes/g'\
service ssh restart

Installing Git

ssh-keygen -t rsa -b 4096 -C ""
eval "$(ssh-agent -s)"
ssh-add ~/.ssh/id_rsa
git config --global "S.O.N.I.A. Guest"
git config --global
git config --global push.default simple

You can now add the content of ~/.ssh/ to your Github/Gitlab: cat ~/.ssh/

We also need to setup a git server in order to be able to push changes on the submarine when there is no internet access. To do so, create a git user and setup the .ssh directory:

touch .ssh/authorized_keys && chmod 600 .ssh/authorized_keys

When this has been done, you can add your ssh key to the server. If your public key is located in ~/.ssh/, the following command will add your key on the submarine:

cat ~/.ssh/ | ssh root@ 'dd of=.ssh/authorized_keys oflag=append conv=notrunc'

Finally, on the production environment, you will have to enable pushing on non-bar repository, do to so, type:

git config --global receive.denyCurrentBranch warn

This is it ! You are now able to add remotes to the submarine on your development environment. The command for adding the ros_sonia_ws repository is the following:

git remote add auv root@

Installing the drivers

In order to install the version 5.15.0 of the Kvaser driver, you can type the following command lines:

tar zxvf linuxcan.tar.gz
cd ./linuxcan
make -j8
sudo make install

During the installation of the CAN Libraries, if you have any trouble with the -Werror=date-time CFLAG, you can delete these line as a workaround :

sed -i -e '2293d' ./leaf/leafHWIf.c
sed -i -e '2293d' ./leaf/leafHWIf.c
sed -i -e '2123d' ./mhydra/mhydraHWIf.c
sed -i -e '2123d' ./mhydra/mhydraHWIf.c
sed -i -e '1757d' ./usbcanII/usbcanHWIf.c
sed -i -e '1757d' ./usbcanII/usbcanHWIf.c
sed -i -e '900d' ./pciefd/pciefd_hwif.c

In order to install the Dalsa Drivers for the GigE visions camera, you can do the following:

tar zxvf DALSA.tar.gz
aptitude install -y gcc make libglade2-dev libX11-dev libxext-dev libcap ethtool

You can then reboot in order to make the driver work.

Setup directories

Create a directory called Workspace in your home directory and link /sonia to it:

cd ~
mkdir sonia_ws
mkdir ros_sonia_ws

Disable few startup checks

In order to disable the partition checks on startup, type this:

tune2fs -c 0 /dev/sda1
tune2fs -c 0 /dev/sdb1

Configure kernel core dumps

For configuring the kernel core dumps, simply use these commands:

mkdir -p /sonia/cores
echo "kernel.core_pattern = /sonia/cores" >> /etc/sysctl.conf

Configure CLI and aliases

Now install bash_it in order to have a better command line interface:

git clone --depth=1 ~/.bash_it
rm ~/.bashrc.bak
sed -i -e 's/bobby/nwinkler/g' ~/.bashrc

Now edit your ~/.bashrc and add the following configuration at the beginning of the file:

# If not running interactively, con't do anything
case $- in
    *i*) ;;
      *) return;;

if ! shopt -oq posix; then
  if [ -f /usr/share/bash-completion/bash_completion ]; then
    . /usr/share/bash-completion/bash_completion
  elif [ -f /etc/bash_completion ]; then
    . /etc/bash_completion

And source the other bash files at the end of your file:

# Load common aliases
if [ -f ~/.bash_aliases ]; then
    . ~/.bash_aliases

# Load SONIA Configuration
if [ -f ~/.bash_sonia ]; then
    . ~/.bash_sonia

You can download the sample bashrc file here:

wget -O ~/.bashrc

You can now add the file ~/.bash_aliases with the following configuration:

wget -O ~/.bash_aliases

And then add the file ~/.bash_sonia with this configuration:

wget -O ~/.bash_sonia

Then resource your .bashrc:

source ~/.bashrc

Loading scripts

We have several scripts that must launch at startup time, here they are:

ln -sf $SONIA_SCRIPTS/ /etc/init.d/can-server
ln -sf $SONIA_SCRIPTS/ /etc/init.d/sonia-init
update-rc.d sonia-init defaults 80
update-rc.d can-server defaults 81

Configure Development Environment

Install Bash_IT

Now install bash_it in order to have a better command line interface:

git clone --depth=1 ~/.bash_it
rm ~/.bashrc.bak
sed -i -e 's/bobby/nwinkler/g' ~/.bashrc

Now edit your ~/.bashrc and add the following configuration at the beginning of the file:

# If not running interactively, con't do anything
case $- in
    *i*) ;;
      *) return;;

if ! shopt -oq posix; then
  if [ -f /usr/share/bash-completion/bash_completion ]; then
    . /usr/share/bash-completion/bash_completion
  elif [ -f /etc/bash_completion ]; then
    . /etc/bash_completion

Then resource your .bashrc:

source ~/.bashrc

Install S.O.N.I.A. Software

Installing AUV7

Installing software is really simple, just execute the following command and enjoy the show (Be aware that at some point you might need to do some actions[ i.e press ENTER]):

cd ~
wget -O ~/sonia-install-1
wget -O ~/sonia-install-2
sudo chmod +x sonia-install-1 sonia-install-2
sh sonia-install-1
sh sonia-install-2
# Then remove the two files
rm sonia-install-1 sonia-install-2

If you have a NVIDIA GPU:

# Should not have any update since it's a clean install.
sudo apt-get update
sudo apt-get upgrade

# Ensure headers are installed (it should since it is a clean install)
sudo apt-get install linux-headers-$(uname -r)

# Get the recommended driver from nvidia (it is written next to it.)
# ex:
# driver   : nvidia-367 - distro non-free recommended

sudo ubuntu-drivers devices
sudo apt-get install nvidia-XXX nvidia-prime

# Setup the xorg file.
sudo nvidia-xconfig

# Reboot and all good! If not, open nvidia-settings UI program and set the resolution to your screen
# resolution.

That’s it ! You can now work with AUV7