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Monitor Set-Up

Configuration

Start with basics.

sudo apt update
sudo apt install git -y

Enable ssh passwordless login.

ssh-keygen

For all hostnames (clients and servers), run:

ssh-copy-id root@hostname
ssh-copy-id hostname

where you select the right hostname.

RoboViz

RoboViz is the preferred visualizer, install it on the visualization machine(s). Full installation and usage instructions are on its homepage:

sudo add-apt-repository ppa:openjdk-r/ppa -y
sudo apt update
sudo apt install openjdk-8-jdk -y
git clone https://github.com/magmaOffenburg/RoboViz/
cd RoboViz/scripts
./build-linux64.sh
mv ../bin/linux-amd64 ../../Roboviz
cd ../../Roboviz
nano config.txt
	Server Hosts         : 10.8.3.51
	Field Overlay        : true
	Number of Players    : true
	Player IDs           : true

If necessary, turn off graphical options for better speed.

nano config.txt
	Bloom                : false
	Phong                : false
	Shadows              : false
	Soft Shadows         : false

League Manager

Obtain a copy of the latest League Manager. Edit the file types/3Dspark/config as appropriate for the current cluster: set the right NET_PREFIX, set the right IP ending for the SERVER, CLIENT1 and CLIENT2 variables, turn off the automatic kickoff and quit if you don’t want them. The default values for other variables should be sufficient.

git clone https://gitlab.com/robocup-sim/rclm2
cd rclm2
edit share/rclm2/types/3Dspark/config
	NET_PREFIX=10.8.3
	SERVER=${NET_PREFIX}.51
	CLIENT1=root@${NET_PREFIX}.52
	CLIENT2=root@${NET_PREFIX}.54

Make and install:

sudo apt install dh-autoreconf libboost-dev ruby -y
./bootstrap
./configure
make -j8
sudo make install

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
	GOVERNOR="performance"

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

Looks

Go to System Settings > Brightness & Lock and disable the Dim screen and Turn screen off options.

Go to System Settings > Appearance > Behavior and enable the Launcher Auto-Hide option.

If necessary, adjust the resolution of the Roboviz screen, with System Settings > Displays and changing resolutions as required (1920 by 1080 seems to work well).

GPU

Remember to install GPU drivers. When Roboviz starts, you can read the -Renderer line to see what it is using to render. For NVidia drivers, go to System Settings > Software & Updates > Ubuntu Software > Download from: Main Server and close. Reload the differences when asked. Then, System Settings > Software & Updates > Additional Drivers and enable the proprietary NVidia drivers.

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