How to setup the SmartSoft Runtime Environment on a Festo Robotino robot

Make a bootable USB stick with Ubuntu 20.04 (desktop version):

Create a bootable USB stick on Ubuntu

Connect USB stick, keyboard, mouse and monitor to Robotino. Turn off and on Robotino, quickly press 'del' key to enter BIOS. Disable the LCD display in BIOS (may vary on older Robotinos):

• Chipset > System Agent (SA) configuration > Graphics Configuration > LCD control > LCD panel type > Disable CH7511

Go back in BIOS to:

• Save and Exit > Save Changes > Boot Override > select your USB stick

Now Robotino will boot from USB stick. Install a fresh Ubuntu 20.04, overwriting the old one. Make an administrator account with name 'robotino'.

Only required if your robotino has an SICK LMS100 Lidar.

Plug in monitor and keyboard and mouse directly to robotino (remote VNC or SSH is not allowed).

Right click top right network symbol > wired > wired settings > ipv4 > manual

• address: 192.168.0.1
• netmask: 16 (or 255.255.0.0)

Now the command 'ping 192.168.0.1' should ping Robotino, and 'ping 192.168.0.2' should ping Lidar. (Both ip-adresses must be different, but in same local network)

Start a terminal on Robotino (e.g. ctrl+alt+T) and copy-paste these commands from this webpage:

sudo apt update
sudo apt -y install xfce4 xfce4-goodies

This will ask for the default display manager, you can keep gdm3 if you want.

sudo apt -y install tigervnc-standalone-server
mkdir ~/.vnc
gedit ~/.vnc/xstartup

Copy&paste the following text to the editor, save and exit:

#!/bin/sh
unset SESSION_MANAGER
unset DBUS_SESSION_BUS_ADDRESS
exec startxfce4

chmod u+x ~/.vnc/xstartup
sudo gedit /etc/systemd/system/vncserver@.service

[Unit]
Description=Remote desktop service (VNC)
After=syslog.target network.target

[Service]
Type=simple
User=robotino
PAMName=login
PIDFile=/home/%u/.vnc/%H%i.pid
ExecStartPre=/bin/sh -c '/usr/bin/vncserver -kill :%i > /dev/null 2>&1 || :'
ExecStart=/usr/bin/vncserver :%i -geometry 1440x900 -alwaysshared -fg -SecurityTypes None
ExecStop=/usr/bin/vncserver -kill :%i

[Install]
WantedBy=multi-user.target

Start VNC service:

sudo systemctl daemon-reload
sudo systemctl enable vncserver@1.service
sudo systemctl start vncserver@1.service

sudo apt -y install openssh-server
sudo systemctl enable ssh
sudo systemctl start ssh

from RobotinoWiki Debrepository:

wget -qO - http://packages.openrobotino.org/keyFile | sudo apt-key add -
sudo su
echo "deb http://packages2.openrobotino.org focal main" > /etc/apt/sources.list.d/openrobotino.list
exit

from RobotinoWiki Install_daemons_v3:

sudo apt -y install robotino-api2 robotino-dev robotino-daemons

From Installation of the SmartSoft World do

• Step 1: Prepare the Folder Structure and the Environment Variables
• Step 2: Install the Java Development Kit
• Step 4: Install a Middleware
• Step 5: Install the Build Dependencies
• Step 6: Build and Install the SmartSoftComponentDeveloperAPIcpp
• Step 7: Build and Install the SmartSoft Kernel for the Used Middleware
• Step 8: Installation of the OPC UA Library
• Step 9: Clone, Build and Install the UtilityRepository

Note that some components need extra libraries, see the install.txt file in the related Component Directory, e.g.

• ComponentGMapping (install.txt)

sudo apt install gmapping

• ComponentLaserFromRGBDServer, ComponentKinectBoxDetection, ComponentRackDetection, ComponentRobotToRobotDocking:

sudo apt install libpcl-dev

sudo cp ~/.Xauthority /root

Use editor 'mousepad' instead of 'gedit':

sudo XAUTHORITY=~/.Xauthority mousepad abc.txt

Thomas Feldmeier.