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.

Updates to last version (for both VM and Raspberry)

Last version released: 1.8.0

The updates must be run on VM and (if any) on Raspberry.

0. To verify which version is installed on VM or Raspberry run: echo $MARRTINO_VERSION

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

cd install

If the folder does not exist (you have a very old version), create it and download the update script.

mkdir install
cd install
wget -N

2. Run the update script


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

Password: marrtino

4. Execute again the update script if needed to reach the latest version.

Full downloads

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

Last version available: MARRtino-v1.8.0

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' )