RUDRA NUC Setup

OS: Ubuntu 20.04 LTS

Installation Step:

1. Install Lambda Stack

Lambda Stack: an AI software stack that's always up-to-date

2. Install Terminator

sudo apt-get update
sudo apt-get install terminator

3. Install ROS Neotic

Wiki

4. Install Catkin Build Tools

sudo apt-get update
sudo apt-get install python3-catkin-tools

5. Install Visual Studio Code

sudo snap install --classic code

6. Install Arduino IDE

Arduino IDE 1 Installation (Linux) | Arduino Documentation

7. Teensyduino

Tutorial 1: Software Setup

8. ROS Serial

$ sudo apt-get install ros-noetic-rosserial-arduino
$ sudo apt-get install ros-noetic-rosserial

Now that you have installed rosserial_arduino, you’ll have to create ros_lib in the Arduino library folder. (This is why we installed Arduino IDE first)

$ cd <sketchbook>/libraries
$ rm -rf ros_lib
$ rosrun rosserial_arduino make_libraries.py .

Note: do not forget the <space>and the . after libraries.py in the above command line.

9. ROS IMU tools

Wiki

10. Sabertooth Driver

Sabertooth 2X12 regenerative dual motor driver

11. Arduino MPU6050 Libraries

MPU-6050 6-axis accelerometer/gyroscope | I2C Device Library

12. Arduino UNO PS2 Controller

How to Interface PS2 Wireless Controller w/ Arduino

13. Enabling SSH

sudo apt update
sudo apt install openssh-server

When prompted, enter your password and press Enter to continue with the installation.

Once the installation is complete, the SSH service will start automatically. You can verify that SSH is running by typing:

sudo systemctl status ssh

The output should tell you that the service is running and enabled to start on system boot:

● ssh.service - OpenBSD Secure Shell server
    Loaded: loaded (/lib/systemd/system/ssh.service; enabled; vendor preset: enabled)
    Active: active (running) since Mon 2020-06-01 12:34:00 CEST; 9h ago
...

Press q to get back to the command line prompt.

Ubuntu ships with a firewall configuration tool called UFW. If the firewall is enabled on your system, make sure to open the SSH port:

sudo ufw allow ssh

Connecting to the SSH Server

To connect to your Ubuntu machine over LAN invoke the ssh command followed by the username and the IP address in the following format:

ssh username@ip_address

Make sure you change username with the actual user name and ip_address with the IP Address of the Ubuntu machine where you installed SSH.

If you don’t know your IP address, you can easily find it using the ip command :

ip a

As you can see from the output, the system IP address is 10.0.2.15.

Once you’ve found the IP address, log in to the remote machine by running the following ssh command:

ssh linuxize@10.0.2.15Copy

When you connect the first time, you will see a message like this:

The authenticity of host '10.0.2.15 (10.0.2.15)' can't be established.
ECDSA key fingerprint is SHA256:Vybt22mVXuNuB5unE++yowF7lgA/9/2bLSiO3qmYWBY.
Are you sure you want to continue connecting (yes/no)?
Copy

Type yes and you’ll be prompted to enter your password.

Warning: Permanently added '10.0.2.15' (ECDSA) to the list of known hosts.
linuxize@10.0.2.15's password:
Copy

Once you enter the password, you will be greeted with the default Ubuntu message:

Welcome to Ubuntu 20.04 LTS (GNU/Linux 5.4.0-26-generic x86_64)
 * Documentation:  https://help.ubuntu.com
 * Management:     https://landscape.canonical.com
 * Support:        https://ubuntu.com/advantage
...
Copy

You are now logged in to your Ubuntu machine.