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Fix bug in ifconfig parsing #1

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ae6c220
Fix bug in ifconfig parsing
ljden May 12, 2021
997a1e8
Update README.md
ljden May 13, 2021
7f24523
Minor updates
ljden Jul 9, 2021
3b78284
Remove notice at top of README about multiple versions
ljden Jul 9, 2021
977beee
Minor updates
ljden Jul 9, 2021
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154 changes: 29 additions & 125 deletions README.md
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Original file line number Diff line number Diff line change
@@ -1,154 +1,58 @@
# URsim 5.10 Installation Guide for Ubuntu 16.04
# URsim 5.10 Installation Guide for Ubuntu 18.04

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.
Currently this document describes how to install **URSim 5.10** in **Ubuntu 18.04.**

If you have futher additions or an installation guide for a newer Ubuntu version,
feel free to create a pull request.
If you have futher additions, feel free to create a pull request.

## Install Ubuntu 16.04
## Install Ubuntu 18.04

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.
Download and install Ubuntu 18.04 from to [Ubuntu 18.04 releases page](https://releases.ubuntu.com/18.04/).

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
```
Download the URSim 5.10 packacge from the [Universal Robots Download Page](https://www.universal-robots.com/download/software-e-series/simulator-linux/offline-simulator-e-series-ur-sim-for-linux-5100/). You need a user account for this download.

After:

```perl
#if [ -x /sbin/start ]; then #provided by upstart
# /sbin/start runsvdir
#fi
```
Extract the downloaded archive as per the instructions.

When you've saved that change, you can tell apt to finish where it left off and you should be good to go:
# Dependency requirements

```bash
sudo apt-get install -f
```
The scipt needs Java 6-8 installed, but automatically installs Java 11. If Java 8 is installed prior to running the install script it won't install Java 11. Do so by running: `sudo apt install openjdk-8-jdk openjdk-8-jre`

## Run URSim Install Script

Using your bash prompt run the `/home/ur/ursim/install.sh` using the following command.
Using your bash prompt run the `install.sh` script using the following command.

```bash
sudo ./install.sh
```

If runit was installed properly before, the script should run 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 provided install script. Therfore we need to copy the files manually from
the usrim folder to `/usr/bin`.

CD into your ursim folder and copy the files:
**Note: If you have ROS installed, running the following script will wipe your install.**

```bash
sudo cp -avr ./usr/bin /usr
sudo ./install.sh
```

Now the command
## Add binaries to PATH

```bash
ls /usr/bin/ur*
echo -e "\nPATH="$PATH:$HOME/ursim-5.10.0.106288/usr/bin" >> ~/.profile
source ~/.profile
```

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. I added the file to the repository `src` folder so you can take
it from there. After you have copied the file, you should make it executable:
This seems to be a custom script generated for the URSim, but not provided in the installation. The script is located in the src directory of this repository.
Download the file, move it to the correct location and add executable permisions:

```bash
sudo chmod u=rwx,g=rx,o=rx /sbin/net-statistics
wget https://raw.githubusercontent.com/ljden/URSim_Install_Guides/main/src/net-statistics
sudo mv net-statistics /sbin/
sudo chmod +x /sbin/net-statistics
```

Now you can test the script

```bash
perl /sbin/net-statistics
net-statistics
```

It should print out something like this:
Expand All @@ -167,7 +71,7 @@ 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:

```bash
sudo gedit /sbin/net-statistics
sudo vim /sbin/net-statistics
```

Before:
Expand All @@ -185,7 +89,7 @@ After:
```perl
#!/usr/bin/perl

my $interface = "ens33";
my $interface = "enp0s3";
my $isDhcp = 0;
my $isStatic = 0;
```
Expand All @@ -205,16 +109,16 @@ need to edit your `/etc/network/interfaces` file, because the perl script
parses the values from this file.

```bash
sudo gedit /etc/network/interfaces
sudo vim /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
auto enp0s3
iface enp0s3 inet static
address 10.0.2.15
netmask 255.255.255.0
```

Expand All @@ -225,8 +129,8 @@ If you prefer DHCP you can configure the interface like this:

```bash
# The primary network interface
auto ens33
iface ens33 inet dhcp
auto enp0s3
iface enp0s3 inet dhcp
```

## Start URSim
Expand Down
8 changes: 4 additions & 4 deletions src/net-statistics
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Original file line number Diff line number Diff line change
Expand Up @@ -49,13 +49,13 @@ if ($isNetDown) {

foreach $line (@ifconfig) {
chomp $line;
if($line =~ /inet addr/) {
if($line =~ /inet /) {
$addr = $line;
$addr =~ s/.*inet addr:([^ ]*).*/$1/;
$addr =~ s/.*inet ([^ ]*).*/$1/;
}
if($line =~ /Mask/) {
if($line =~ /netmask/) {
$mask = $line;
$mask =~ s/.*Mask:([^ ]*).*/$1/;
$mask =~ s/.*netmask ([^ ]*).*/$1/;
}
}

Expand Down