OS installation

• Install Ubuntu 22.04
  • username: nuc
  • swap: 20GB
  • don't ask password on login

Set the computer IP address

Go to Settings -> Network -> Wired -> Settings Gear Icon

Go to IPv4:

• Manual
• Address: 192.168.1.133
• Netmask: 24 (will turn into 255.255.255.0)
• Gateway: 192.168.1.1
• DNS: 8.8.8.8 and Automatic is enabled.

Apply

Flick the switch near the interface twice to restart and apply the settings.

Go to Settings -> Network -> Wifi -> Disable wifi.

Install basic programs

Open up Software & Updates app

• Ubuntu Software
  • Download from: Main server
• Updates
  • Subscibed to: Security and recommended updates
  • Aut. check for updates: Never
  • When there are sec upd: Display immediately
  • When there are other upd: Display every two weeks
  • Notify me of a new Ub ver: Never

$ sudo apt update && sudo apt dist-upgrade

$ sudo apt install -y fzf \
ccache \
suckless-tools \
xdotool \
numlockx \
ranger \
nitrogen \
gedit \
htop \
tree \
gdebi \
hexchat \
gimp \
git \
git-lfs \
cmake-curses-gui \
fonts-font-awesome \
arandr \
libpcre3-dev \
meson \
thunar \
lxappearance \
numix-gtk-theme \
numix-icon-theme \
libgtk-3-dev \
qdirstat \
screenfetch \
lm-sensors \
net-tools \
pavucontrol \
thunar-archive-plugin \
gnome-screenshot \
autoconf \
snapd \
gnome-flashback \
flatpak \
brightnessctl \
stress \
openssh-server \
tightvncserver \
xfce4 \
xfce4-goodies \
chrony

sudo snap install core

sudo snap install gitkraken --classic
sudo snap install code --classic

sudo snap install clion --classic

# FSearch
sudo add-apt-repository -y ppa:christian-boxdoerfer/fsearch-daily
sudo apt install -y fsearch

Create default folders

cd && mkdir projects programs dds_logs

Clone this repository into ~/programs

trashy

cd programs/
git clone https://gitlab.com/trashy/trashy.git
cd trashy/
autoreconf --install
automake
./configure
make
sudo make install

dotfiles

Remove target folders/directories listed in the dotfiles/install_links.sh file.

Following command will attempt to symlink them from this repo to target directory.

cd ~/programs/installation-secondary-pc/dotfiles
chmod +x ./install_links.sh
./install_links.sh

Set up ssh and vnc

sudo systemctl enable ssh
sudo systemctl start ssh
sudo systemctl status ssh

Run vncserver once and give it a password for connecting to it later on. Default: asdasd

Then terminate it with vncserver -kill :3 (replace 3 with the instance that got launched on previous command.)

cp -r ~/programs/installation-secondary-pc/dotfiles/.vnc ~/
chmod +x ~/.vnc/*

sudo ufw disable

Then configure the service using:

sudo cp ~/programs/installation-secondary-pc/services/vncserver@.service /etc/systemd/system/
sudo systemctl daemon-reload
sudo systemctl enable vncserver@1.service
# we can start the service but if a monitor is attached, it wont work due to slot 1 being occupied by the X desktop.
# It will work correctly without the monitor attached on the next system startup.
sudo systemctl start vncserver@1.service

To connect to it from the primary pc, use the following commands from the primary pc:

# On terminal 1
## Following command will not return anything and block that terminal
ssh -L 59000:localhost:5901 -C -N -l nuc 192.168.1.133

# On terminal 2
vncviewer
## connect to localhost:59000 with default `asdasd` password.

Drivers

# First https://superuser.com/questions/714391/how-do-i-remove-all-i386-architecture-packages-from-my-debian-installation
sudo dpkg --remove-architecture i386

sudo ubuntu-drivers autoinstall

ROS2 Stuff

https://docs.ros.org/en/humble/Installation.html

ccache

https://ccache.dev/manual/latest.html#_location_of_the_primary_configuration_file

~/.cache/ccache/ccache.conf

# Set maximum cache size
max_size = 100G

Cyclone DDS

https://github.com/eclipse-cyclonedds/cyclonedds#run-time-configuration

~/cyclonedds.xml

flatpak

flatpak remote-add --if-not-exists flathub https://flathub.org/repo/flathub.flatpakrepo

Screen sleep

# Sleep only after 10m
gsettings set org.gnome.desktop.session idle-delay 600

# Never sleep
gsettings set org.gnome.desktop.session idle-delay 0

chrony configuration

Also configure the chrony on the other computer to share its clock with this pc's ip address.

cd
mkdir configs_backup
cp /etc/chrony/chrony.conf ~/configs_backup
sudo cp ~/programs/installation-secondary-pc/configs/chrony.conf /etc/chrony/chrony.conf

sudo systemctl restart chronyd.service
systemctl is-active chronyd.service
chronyc sources -v

DDS performance configurations

sudo gedit /etc/sysctl.d/10-cyclone-max.conf

Add the following into the file:

net.core.rmem_max=2147483647
net.ipv4.ipfrag_time=3
net.ipv4.ipfrag_high_thresh=134217728

reboot the computer.

Clone the repositories

Clone following into ~/projects:

• https://github.com/vautonomous/autoware
• https://github.com/vautonomous/volt_scripts

cd projects/volt_scripts/

find ~/projects/volt_scripts/ -type f -name "*" -exec chmod +x {} \;

Install the Autoware following https://github.com/vautonomous/autoware-documentation/blob/main/docs/installation/autoware/source-installation.md (Don't use ansible!)

Install the UI Process Manager service

sudo cp ~/programs/installation-secondary-pc/services/ui_process_manager.service /etc/systemd/system/
sudo systemctl daemon-reload
sudo systemctl enable ui_process_manager.service
sudo systemctl start ui_process_manager.service
watch -n 0.1 "systemctl status ui_process_manager.service"