Install Ubuntu 10.10

1. Go to Ubuntu 10.10 Maverick Meerkat and download ubuntu-10.10-desktop-i386.iso

2. Create a USB stick out of the downloaded .iso file--follow the directions provided on the website.

3. Connect keyboard, mouse, and monitor to darwin OP.

4. Put USB boot stick into the darwin OP.

5. Turn on robot.

6. While booting, press F2 to enter BIOS menu, then select the “boot” menu, and move ‘USB key’ to the top of the menu.

7. Restart robot.

8. Install Ubuntu 10.10 following on-screen prompts. Make the username and password something easy to remember, if you are working in a large group. We suggest ‘darwin’ as a username for each robot. Be sure you name each robot’s computer something different though, if you plan to network them together.

9. Restart robot.

10. While booting, press F2 to enter BIOS menu, then select the “boot” menu, and move “USB HDD” to the top of the menu. You may now remove the USB key with the Ubuntu distribution from the robot.

11. Boot into robot. If asked, select the top option to load main Ubuntu partition.

12. To save some space on the robot’s hard drive, go to Applications-->Ubuntu Software Center-->Installed Software and remove each instance of an openoffice application or run ‘sudo apt-get remove openoffice.org-common’ in a terminal.

13. Now we must make sure the robot can log in automatically. Go to System-->Administration-->Users and Groups. Click ‘change’ next to the ‘Password’ option and check the ‘Don’t ask for password on login’ box. Go to System-->Administration-->Login Screen. Click ‘unlock’. Uncheck ‘Play Login Sound’ and select the ‘log in as ’ option. Click ‘close’.

14. To disable the startup sound, go to System-->Preferences-->Startup Applications. Uncheck GNOME Login Sound.

Changing Darwin’s IP and setting up Secure Shell

1. Go to System-->Preferences-->Network Connections.

2. Edit Auto eth0.

3. Rename Auto eth0 to ‘eth0 dhcp’ and uncheck the ‘connect automatically’ box.

4. Add a new wired connection called ‘auto darwinop’.

5. Check the ‘Connect Automatically’ check box if it is not selected already.

6. Move to the IPv4 settings tab and add a new address. Use ‘Manual” as the connection method.

7. Use 192.168.123.1 as your address, 255.255.255.0 as the netmask and 0.0.0.0 as the gateway (or your own settings, if you prefer).

8. Enable internet access on your Darwin OP. This can be done by connecting to the internet wirelessly or through an ethernet cable. We recommend wireless if possible.

9. Open up a terminal and type ‘sudo apt-get install openssh-server’. Agree to install the package.

10. After everything has been downloaded and installed, you have completed the setup of IP and Secure shell.

Connecting to the robot via SSH using Ubuntu on Main Machine

1. Run an ethernet cable from the robot to your main machine.

2. Boot into Ubuntu on your main machine.

3. After boot, launch a terminal. If you are using a version of Ubuntu which is 10.04 or later, do this using the key combination ctrl+alt+t.

4. Set your IP to be consistent with the IP you set for the robot. If you used the IP suggested here, set it to 192.168.123.10.
   sudo ifconfig eth0 192.168.123.10

5. To ssh into the robot, use an ssh command from your terminal. If you used the IP suggested above, connect to [email protected]
   ssh [email protected]

6. Congratulations; you are in the robot!

Connecting to the robot via VNC using Ubuntu on Main Machine

1. Open the System->Preferences->Remote Desktop

2. Set the following:
   “Allow other users to view your desktop”
   “Allow other users to control your desktop”
   “Require the user to enter this password: “ + password
   “Configure network automatically to accept connections”

3. Unset the others

4. Now, to ensure that the keyring message never pops up again, do the following:

    1. In a terminal, type ‘rm ~/.gnome2/keyrings/login.keyring’  
   
    2. Reboot  
   
    3. Enter the “System->Preferences->Remote Desktop” dialog  
   
    4. Start entering the password again  
    5. In the pop up window for the keyring password set, use a blank password, and accept the resulting “unsafe storage” message  
    
    6. Continue typing your pasword, and close the Remote Desktop dialog.  
    
    7. Reboot  
   

Starting the Robot Without a Monitor Attached

1. Open a terminal and navigate to /etc/default/.
   cd /etc/default

2. Edit grub. Make sure you give yourself root permissions to do so.
   sudo nano grub

3. Change GRUB_CMDLINE_LINUX_DEFAULT=”quiet splash” to GRUB_CMDLINE_LINUX_DEFAULT=”quiet splash nomodeset”. Save and exit the editor.
   ctrl-o then enter
ctrl-x

4. Run update-grub
   sudo update-grub

5. Create an xorg.conf file to handle the case of there not being a monitor. Place this file in /etc/X11
   cd /etc/X11
sudo nano xorg.conf

6. Type the following into the xorg.conf file:

    Section "Monitor"  
      Identifier   "Monitor0"  
      HorizSync    31-81  
      VertRefresh  56-75  
    EndSection  
   
    Section "Device"  
      Identifier  "Card0"  
      Driver      "vesa"  
    EndSection  
   
    Section "Screen"  
      Identifier "Screen0"  
      Device     "Card0"  
      Monitor    "Monitor0"  
    EndSection  
   

7.Reboot the robot.