Raspi Setup

This page describes how to setup a robot for experiments.

Use Raspi Imager, and flash an sd card with Ubuntu Server 20.04.4 LTS
On the sd card, modify the network-config file in system-boot with the following:
```
 wifis:
   wlan0:
     dhcp4: true
     optional: true
     access-points:
       "swarm-5G": {}
```
or whatever the name of the wifi. The {} indicates that there is no password for this wifi network.
Boot the pi with sd card

Warning: During your first boot a tool called cloud-init is doing configuration. WAIT for it to finish before trying to log in. It typically takes less than 2 minutes but there is a break between the log-in prompt and cloud-init completing. If you interrupt the process you have to start again. You’ll know it’s done when it outputs some more lines after the log-in prompt has appeared.
Login with username ubuntu and password ubuntu
Enable uart: modify the /boot/firware/usercfg.txt and add the following lines:
```
dtoverlay=uart4
dtoverlay=uart5
```
Change the hostname: modify the file /etc/hostname to
```
new_hostname
```
and change the first line of /etc/hosts to
```
127.0.0.1 new_hostname
```
In the future, to ssh into this computer, you will run ssh ubuntu@new_hostname.local
Reboot pi
Install docker: see https://docs.docker.com/engine/install/ubuntu/
Post-install steps for docker: https://docs.docker.com/engine/install/linux-postinstall/
Clone robot-jumpstart: https://github.com/dasc-lab/robot-jumpstart

Follow the instructions in the readme.md.