MiROS Installation Guide
for Ubuntu 22.04 LTS


Step 1 Install Docker

Official doc Docker Desktop from the below website: https://www.docker.com/products/docker-desktop/

Download the deb pacakge from this link

amd64.deb

# Add Docker's official GPG key
sudo apt-get update
sudo apt-get install ca-certificates curl
sudo install -m 0755 -d /etc/apt/keyrings
sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
sudo chmod a+r /etc/apt/keyrings/docker.asc

# Add the repository to Apt sources
echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
  $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

# Install Docker and Docker Desktop
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
sudo apt-get install ./docker-desktop-amd64.deb


Step 2 Install MiROS

MIROS_AMD64

MIROS_ARM64

Unzip the file and double click to execute it.

Enter the following shell command

sudo docker ps -a

If you see the below from your Terminal, this means MiROS is successfully installed


Step 3 Register a user account

When you launch MiROS, your default web browser will launch and land on the following IP: http://127.0.0.1:8000

If the above website was not open, please manually type the above IP address. You will see the below page to sign up for a user account.

Once you have registered a user account and signed in successfully, you should see the Project Manager page.

Congratulations! You can start your project now.


Step 4 Connect to Robot

4.1 After create your project Workspace, you will enter Mission Control. Click the Connect button to connect to your robot.

4.2 Enter the IP address, the domain ID of your robot and your ssh user name/password. If you wish to load the ROS packages from the robot to MiROS, please check the small box at the bottom.

There are 3 ways you can connect to the robot via Wifi:

Option 1. connect to robot’s wifi hotspot:

SSID: WHEELTEC_CAT2

PASSWORD: dongguan

Using this methods the robot will be the server and give your computer IP address of 192.168.0.xxx. The robot itself will have a static ip of 192.168.0.100 on the wifi network. Sometimes this method does not work on newer macOS system so you may want to try option 2 and 3.

Option 2. connect your computer to robot using an ethernet cable.

The robot will be on ip 192.168.1.100 and you will be automatically assign an address under same subnet, which is 192.168.1.xxx. Note: if you have configure static ip for your ethernet port or adapter before, you will need to change it back to DHCP.

Option 3. connect robot to a Wifi router and connect your computer to the router. Using this appraoch only if you know how to log in the router admin page so that you should be able to find the robot IP in the router admin panel.

4.3 Enter the path to the setup.bash or local_setup.bash file of your robot. Here are the examples:

MiROS Robot Templates -

/home/wheeltec/wheeltec_ros2/install/setup.bash

Other third party robots -

/opt/ros/humble/setup.bash

If you have chosen a robot template to start your project, it’s recommended to choose the “Do not load any packages” option from the Drop-down Menu.

4.4 Build Packages

After connecting to your robot, you may build your project on your robot by pressing the Build Packages button. When you are prompted to enter the target directory. Please copy the below directory and replace <your project> to your preferred project name.

/home/wheeltec/<your project>