scooby-16.04.md

Scooby 16.04

Nvidia driver

sudo add-apt-repository ppa:graphics-drivers

sudo apt-get install nvidia-396 nvidia-modprobe;

Restart

Install ubuntu software center (to remove Amazon etc)

sudo apt-get install software-center

Install cuda

sudo sh ./cuda_9.2.148_396.37_linux.run

Install NVIDIA Accelerated Graphics Driver for Linux-x86_64 396.37?
(y)es/(n)o/(q)uit: n

Install the CUDA 9.2 Toolkit?
(y)es/(n)o/(q)uit: y

Enter Toolkit Location
 [ default is /usr/local/cuda-9.2 ]:

Do you want to install a symbolic link at /usr/local/cuda?
(y)es/(n)o/(q)uit: y

Install the CUDA 9.2 Samples?
(y)es/(n)o/(q)uit: y

Enter CUDA Samples Location
 [ default is /home/terrance ]: /usr/local/cuda-9.2
 

To build samples and test you need:

sudo apt-get install g++ freeglut3-dev build-essential libx11-dev \
    libxmu-dev libxi-dev libglu1-mesa libglu1-mesa-dev
    

Build samples

cd /usr/local/cuda-9.2/samples;
sudo make;

Then add the following to ~/.profile:

# set PATH for cuda 9.2 installation
if [ -d "/usr/local/cuda-9.2/bin/" ]; then
    export PATH=/usr/local/cuda-9.2/bin${PATH:+:${PATH}}
    export LD_LIBRARY_PATH=/usr/local/cuda-9.2/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
fi

Patch cuda with latest patch

sudo sh ./cuda_9.2.148.1_linux.run;

Install ROS Kinetic

Link to ROS kinetic install guide

# Setup your sources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

# Set up your keys
sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

# Installation

sudo apt-get update;

# Full install of ROS with rviz etc.
sudo apt-get install ros-kinetic-desktop-full;

# Init

sudo rosdep init
rosdep update

# Package dependencies

sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential

Gazebo Setup

sudo apt-get install ros-lunar-gazebo-ros-pkgs ros-lunar-gazebo-ros-control

Setup ROS workspace

mkdir -p ~/catkin_ws/src;
cd ~/catkin_ws/
catkin_make