Added installation guide for URSim 5.10 on Ubuntu 16.04

README.md

@@ -1,2 +1,228 @@
-# URSim_Install_Guides
-Collection of installation guides for Universal Robots URSim simulation environment
+# URsim 5.10 Installation Guide for Ubuntu 16.04
+
+The intention of this repository is to describe the installation of different
+URSim versions on different Ubuntu versions. Currently this document
+describes how to have **URSim 5.10** running in **Ubuntu 16.04.** The VM hat comes
+from Universal Robots is an 32-bit Lubuntu 14.04.
+
+If you have futher additions or an installation guide for a newer Ubuntu version,
+feel free to create a pull request.
+
+## Install Ubuntu 16.04
+
+Download and install Ubuntu 16.04 from to [Ubuntu 16.04 releases page](https://releases.ubuntu.com/16.04/). The installation should work on the 32-bit and
+64-bit version. 
+
+To match the linux settings of the Lubuntu VM from Universal Robots, you should
+use the following account settings:
+
+- Hostname: **ursim**
+- Username: **ur**
+- Password: **easybot**
+
+This guide was made with the settings above, so any changes there might cause
+additional trouble.
+
+## Download and unpack URSim 5.10
+
+Download the URSim 5.10 packacge from the [Universal Robots Download Page](https://www.universal-robots.com/download). You need a user account for this download.
+
+Extract the downloaded archive into the `/home/ur/ursim` folder. 
+
+## Install runit package
+
+The `install.sh` script will install the `runit` package - this will likely fail on Ubuntu 16.04. The install script already contains a note about this:
+
+```bash
+...
+echo "Installing daemon manager package"
+# if it fails comment out, and check answer https://askubuntu.com/a/665742
+sudo apt-get -y install runit
+...
+```
+
+So before we run the install script, we follow the instructions in the given
+link to install runit: https://askubuntu.com/a/665742. Here are the steps
+summarized:
+
+Install runit: `sudo apt-get install runit`. If this succeeds, you can go to
+the next step and skip the following fix. Most likely you will see the
+folloing error:
+
+```bash
+Setting up runit (2.1.2-3ubuntu1) ...
+start: Unable to connect to Upstart: Failed to connect to socket /com/ubuntu/upstart: Connection refused
+dpkg: error processing package runit (--configure):
+ subprocess installed post-installation script returned error exit status 1
+Processing triggers for ureadahead (0.100.0-19) ...
+Errors were encountered while processing:
+ runit
+E: Sub-process /usr/bin/dpkg returned an error code (1)
+```
+
+You should find a `runit.postinst` file in `/var/lib/dpkg/info/`. Edit this file
+as root (sudo) in the following way:
+
+Before:
+
+```perl
+if [ -x /sbin/start ]; then #provided by upstart
+  /sbin/start runsvdir
+fi
+```
+
+After:
+
+```perl
+#if [ -x /sbin/start ]; then #provided by upstart
+#  /sbin/start runsvdir
+#fi
+```
+
+When you've saved that change, you can tell apt to finish where it left off and you should be good to go:
+
+```bash
+sudo apt-get install -f
+```
+
+## Run URSim Install Script
+
+Using your bash prompt run the `/home/ur/ursim/install.sh` using the following command.
+
+```bash
+sudo ./install.sh
+```
+
+If runit was installed properly before, the script should tun without any errors.
+
+## Copy Libraries to /usr/bin
+
+Since version 5.10 the extracted ursim folder contains the folder `usr/bin` with
+executable files that should be installed to `/usr/bin` but which are not 
+touched by the install script. Therfor we need to copy the files manually from
+the usrim folder to `/usr/bin`.
+
+CD into your ursim folder and copy the files:
+
+```bash
+sudo cp -avr ./usr/bin /usr
+```
+
+Now the command
+
+```bash
+ls /usr/bin/ur*
+```
+
+should output the following:
+
+```bash
+/usr/bin/uradmin
+/usr/bin/uradmin-autorun
+/usr/bin/uradmin-autorun-exec
+/usr/bin/uradmin-control-mode
+/usr/bin/uradmin-firewall-block-ports
+/usr/bin/uradmin-firewall-restrict-incoming
+/usr/bin/uradmin-firewall-service
+/usr/bin/uradmin-help
+/usr/bin/uradmin-passwd-check
+/usr/bin/uradmin-passwd-set
+/usr/bin/uradmin-print
+/usr/bin/uradmin-ssh
+/usr/bin/uradmin-ssh-add-authorized-key
+/usr/bin/uradmin-ssh-remove-authorized-key
+```
+
+## Provide net-statistics Perl Script
+
+For proper network support ursim requires the perl script `/sbin/net-statistics`.
+I'm not a linux expert and I have no idea where this file comes from so I
+simply copied this file from the URSim Lubuntu 14.04 VM to my Ubuntu 16.04
+installation. After you have copied the file, you should make it executable:
+
+```bash
+sudo chmod u=rwx,g=rx,o=rx /sbin/net-statistics
+```
+
+Now you can test the script
+
+```bash
+perl /sbin/net-statistics
+```
+
+It should print out something like this:
+
+```bash
+Mode:static
+Net up
+Address:192.168.190.134
+Mask:255.255.255.0
+Gateway:
+nameserver1:
+nameserver2:
+Hostname:ubuntu
+```
+
+If you do not see this, then you need to edit the file `/sbin/net-statistics` to adjust the name of the network interface. Use `ifconfig` to find out the name. This is how I changed the file on my system:
+
+Before:
+
+```perl
+#!/usr/bin/perl
+
+my $interface = "eth1";
+my $isDhcp = 0;
+my $isStatic = 0;
+```
+
+After:
+
+```perl
+#!/usr/bin/perl
+
+my $interface = "ens33";
+my $isDhcp = 0;
+my $isStatic = 0;
+```
+
+## Edit /etc/network/interfaces
+
+Check the mode value printed when executing the per script `/sbin/net-statistics`.
+
+```bash
+Mode:static
+Net up
+...
+```
+
+The mode value should be `static` or `dhcp`. If the value is `disabled` then you
+need to edit your `/etc/network/interfaces` file, because the perl script
+parses the values from this file.
+
+```bash
+sudo gedit /etc/network/interfaces
+```
+
+Because I use a static IP, I added the following lines:
+
+```bash
+# The primary network interface
+auto ens33
+iface ens33 inet static
+address 192.168.190.134
+netmask 255.255.255.0
+```
+
+After this change the perl script `/etc/network/interfaces` sucessfully printed
+out the right mode `static`.
+
+## Start URSim
+
+Now you can start URSim from the command line:
+
+```bash
+./start-ursim.sh UR5
+```
+
+URSim should start without any errors now. If you see errors, then you can
+check the log output on the console to get information what is going wrong.