Installation
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 git@github.com:sonia-auv/ros_sonia_ws.git
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 submarineros_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:
Install Bash_IT
Now install bash_it in order to have a better command line interface:
git clone --depth=1 https://github.com/Bash-it/bash-it.git ~/.bash_it
~/.bash_it/install.sh
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;;
esac
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
fi
fi
And source the other bash files at the end of your file:
# Load common aliases
if [ -f ~/.bash_aliases ]; then
. ~/.bash_aliases
fi
# Load SONIA Configuration
if [ -f ~/.bash_sonia ]; then
. ~/.bash_sonia
fi
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 http://sonia-auv.readthedocs.org/assets/files/melodic_18_04_new/sonia_install.sh
sudo chmod +x sonia_install.sh
./sonia_install.sh
# SYSTEM WILL REBOOT. AFTER IT, EXECUTE THE FOLLOWING :
./sonia_install.sh
# Then remove the file
rm sonia_install.sh
Fix network problem on Jetson AGX
sudo su
echo 'net.ipv4.udp_rmem_min = 12288' >> /etc/sysctl.conf
echo 'net.core.netdev_max_backlog = 4096' >> /etc/sysctl.conf
echo 'net.unix.max_dgram_qlen = 118148' >> /etc/sysctl.conf
echo 'net.core.rmem_max = 536870912' >> /etc/sysctl.conf
echo 'net.core.rmem_default = 536870912' >> /etc/sysctl.conf
sysctl -p
exit