Procedura di test per robot MARRtino (Alternanza Scuola-Lavoro 2017/18)

pre-installed Operating Systems

You can use pre-installed operating systems either on a Virtual Machine (VM) or on a Raspberry PI3.

Last version released: 1.5

Updates to last version (for both VM and Raspberry)

1. Move to or create an install folder in the home directory

cd install

or (if it does not exists)

mkdir install
cd install

2. Download the update script


3. Run the update script


4. Confirm update to new version (if you want) and use the following password when needed

Password: marrtino

Full downloads

Virtual Machine (Before the import of the VM, install VirtualBox 5.2.x + Extension Pack 5.2.x)

Version 1.4 MARRtino-v1.4

User: ubuntu, Password: marrtino

Raspberry PI3

1) Download boot and root images

Version 1.2 : boot_partition (64 MB) - root_partition (10 GB)

2) Insert SD card and create 3 partitions (e.g. using gparted) as shown below

P1) fat16, 64 MiB, Flags: boot, lba, (/dev/mmcblk0p1, /dev/sdb1), label PI_BOOT

Sectors: First: 2048 Last: 133119 Total: 131072

* flags can be set after format

P2) ext4, 10000 MiB, (/dev/mmcblk0p2, /dev/sdb2), label PI_ROOT

Sectors: First: 133120 Last: 20613119 Total: 20480000

P3) ext4, 20.34 GiB, (/dev/mmcblk0p3, /dev/sdb3), label data

Sectors: First: 20613120 Last: 63272959 Total: 42659840

3) Download the write script - check that the device names are correct and modify the script if needed - run the following commands

$ sudo bash
$ ./writeimg.bash raspi3_marrtino_v1.2

4) Put SD card in Raspberry, (for first setup, attach HDMI cable to a monitor) and boot it

User: ubuntu, Password: marrtino

5) Configure the network if needed.

Manual installation of Operating System

For a full set-up of the system from scratch, follow these instructions. Skip this section if you have pre-installed OS.

Note: some experience in setting up Linux OS is required, the procedure may differ on specific machines.


Ubuntu 16.04 and ROS Kinetic

Ubuntu 14.04 and ROS Indigo

Raspberry Pi3 Model B (v1.2 2015)

Ubuntu Mate 16.04 and ROS Kinetic image

Raspbian Jessie and ROS Indigo from source

MARRtino Ubuntu Mate 16.04 image

    $ gunzip <image.gz>
    $ sudo dd if=<image> of=<device> bs=1M

Network configuration

If you are using the Raspberry PI3 image provided above, you have to configure the network. The easiest way is to connect the raspberry to a monitor and use standard Ubuntu utilities to configure wireless networks.


NOTE: Skip this section if you have a pre-installed OS. The following packages are already installed in the MARRtino Virtual machine and in the image for Raspberry PI3.

OpenNI2 library for Xtion sensor

for Raspberry PI 3 use

After compiling, do the following

  • sudo mkdir /usr/lib/OpenNI2/Drivers
  • sudo cp Bin/Arm-Release/OpenNI2/Drivers/lib* /usr/lib/OpenNI2/Drivers/
  • Add to your .bashrc file
export OPENNI2_DRIVERS_PATH=/usr/lib/OpenNI2/Drivers
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/OpenNI2/Drivers

ROS packages

Download and run the script

MARRtino install script v 1.4

Note: for using Kinect instead of Xtion try this link (not tested)


Do it only if you know what you are doing.

To update software packages:

  1. Go to the 'src' directory (cd ~/src)
  2. Go to the directory of the package you want to update
  3. Use the command 'git pull' to update the package
  4. Repeat steps 2 and 3 for every package you want to update
  5. Go to the 'ros/catkin' directory (cd ~/ros/catkin)
  6. Run 'catkin_make' (for Raspberry use 'catkin_make -j1' )