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Server Set-Up


Start with basics.

sudo apt update
sudo apt install openssh-server git -y

The League Manager uses the root account to log into the different machines. Ubuntu by default disables this account, to enable it give it a password by running:

sudo passwd root
sudo passwd -u root

Set up passwordless SSH. First generate an SSH key on the machine and under the account from which you will run the league manager, usually the visualization machine:


Press Return on all questions to select the default values, and to choose not to set a password. This will generate a private and public key. For convenience, run:

sudoedit /etc/ssh/sshd_config
	PermitRootLogin yes
sudo service ssh restart


Main installation instructions are found here. The following are a reproduction of these, with some additions specific to running a competition. This should be done on all server machines. Install dependency packages.

sudo apt install build-essential subversion git cmake libfreetype6-dev libsdl1.2-dev ruby ruby-dev libdevil-dev libboost-dev libboost-thread-dev libboost-regex-dev libboost-system-dev qt4-default -y

Install multi-threaded ODE:

sudo apt install autogen automake libtool libtbb-dev -y
git clone
cd ode-tbb
./configure --enable-shared --disable-demos --enable-double-precision --disable-asserts --enable-malloc
make -j8
sudo make install

Install simulator. Download the latest versions of simspark and rcssserver3d from here:

git clone
cd SimSpark/spark
mkdir build
cd build
cmake ..
make -j8
sudo make install
sudo ldconfig
cd ../../rcssserver3d
mkdir build
cd build
cmake ..
make -j8
sudo make install
sudo ldconfig


To use the proxy, the server must run in sync mode. Also, change the logging frequency for beautiful replays.

sudoedit /usr/local/share/simspark/spark.rb
	$agentSyncMode = true
	$monitorLoggerStep = 0.04
rm -f ~/.simspark/spark.rb

Performance mode

To ensure the machine is running at peak performance, enable performance mode. For an 8-core machine, this did the trick:

for i in {0..7}; do echo performance > /sys/devices/system/cpu/cpu${i}/cpufreq/scaling_governor; done

This does not seem to work:

sudo apt install cpufrequtils -y
sudoedit /etc/init.d/cpufrequtils

We're not sure how to make this work upon reboot.

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