Procedure for Installing Operator Control System (OCS) On Workstation {7008, 7605} Caterpillar

Machine Control and Guidance Products

CMD FOR HAULING (S/N: CM41-UP; CM51-UP; AT61-UP)

Off-Highway Truck/Tractor

793F (S/N: RBT1-UP)

Introduction

This Special Instruction contains necessary information for installing Operator Control System (OCS) on a laptop workstation using the OCS Live CD.

Note: All libraries required to run the released autonomy software are installed after the Live CD installation and initial setup are completed.

Note: The OCS Live CD does not include the actual truck software. (The software will need to be manually copied onto the machine.)

Important Safety Information

Do not perform any procedure in this Special Instruction until you have read this Special Instruction and you understand this information. Use only proper tools and observe all precautions that pertain to the use of those tools. Failure to follow these procedures can result in personal injury. The following procedures also should be observed.

Work safely. Most accidents that involve product operation, maintenance, and repair are caused by failure to observe basic safety rules or precautions. An accident can often be avoided by recognizing potentially hazardous situations before an accident occurs.

A person must be alert to potential hazards. This person should also have the necessary training, skills, and tools to perform these functions properly.

Safety precautions and warnings are provided in this instruction and on the product. If these hazard warnings are not heeded, bodily injury or death could occur to you or to other persons. Caterpillar cannot anticipate every possible circumstance that might involve a potential hazard.

Therefore, the warnings in this publication and the warnings that are on the product are not all inclusive. Ensure that any tool, procedure, work method, or operating technique you use that is not recommended by Caterpillar is safe.

Ensure that the product will not be damaged or the product will not be made unsafe by the operation, lubrication, maintenance, or repair procedures used.

Required Configuration

The target computer must meet the minimal OCS laptop standards:

Dell Laptop:

• CPU: Intel Core I5 2.4GHz or greater

• Ram: 4GB or greater

• Video Card: NVIDIA brand. Quadro 100m with 2GB DDR3 or greater (Using a NVIDIA graphics card is strongly recommended, but is not required).

• Hard Drive: 300GB 7200RPM or better

• Display: 1920×1080 or better

• Ethernet: 10/100/1000 Wired

• USB: 3.0 (two ports minimal)

• OS: Must meet minimal Ubuntu 12.04.1 LTS requirements. Refer to link: https://help.ubuntu.com/community/Installation/SystemRequirements

Note: A laptop with a backlit keyboard is recommended to allow for using the OCS laptop in low light environments

Note: There are likely other requirements for network cards, and other items, but there is insufficient time to test and characterize everything. In general, follow the document that specifies the requirements for a brand new OCS laptop.

Note: This install is a fully automated operating system installation for the OCS excluding the autonomy software release.

BIOS Setup

Boot to the BIOS settings

1. Different PCs will have different methods to boot into the BIOS. At boot up, boot into the BIOS is usually a function key. Dell laptops tend to use the F12 key.

2. Select/Expand: "System Configuration"

   1. Select: "SATA Operation".

   2. Do not use RAID On. If available, select "AHCI".

3. Select/Expand: “Optimus^TM”.

   1. Uncheck the box next to Enable Optimus^TM (Ensure that Optimus is Not Enabled).

      Note: If this feature is not disabled, the OCS will not start.

4. Select/Expand: "General".

   1. Select "Boot Sequence".

   2. In Boot Sequence: all methods to boot should be checked (Use Discretion).

   3. In Boot List Option select: "Legacy".

5. Select/expand "Video":

   1. Select "Switchable Graphics".

   2. Uncheck "Enable Switchable Graphics".

Creating Ubuntu Image

Perform the following instructions for creating the Ubuntu image:

Obtaining OCS Live CD

1. There are two methods to obtain the OCS Live CD:

   1. Obtain a current copy on a DVD from Product Support.

   2. Download a current copy of the ISO from Product Support.

Note: There are too many variations of creating a Live USB/DVD using Ubuntu 12.04LTS to support all the methods in this document. No other methods of installation are supported besides the methods documented in this guide.

Creating a Bootable Live Distribution Start

1. Download Command for Hauling OCS ISO that is appropriate for the autonomy software release.

   1. See version information for autonomy release from Product Support.

   2. Follow one of the two following methods below:

      • Creating the OCS Live CD on DVD

      • Creating a Bootable Live CD Thumb/Flash Drive

Creating OCS Live CD on DVD

1. (In Ubuntu) Burn the ISO to a DVD+R.

   Note: These instructions vary depending on the system you are using to burn the CD.

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   (1) "Cancel"

   1. Insert a blank DVD+R into the CD/DVD burner. Press "Cancel" (1), if the blank DVD message pops up.
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      (2) "Open With Brasero Disk Burner"

   2. Using Ubuntu with a DVD burner, right-click the ISO to burn and select "Open With Brasero Disk Burner" (2).
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   3. Select which disc to write to. If only one disc is inserted, the program should default to the only option.
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      (3) "Burn" button

   4. Once the disc has been selected, click the "Burn" button (3).
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   5. Wait for the program to finish burning the ISO and follow the on-screen instructions. The program will say when the image has successfully burned the image to the DVD.

Creating a Bootable Live CD Thumb/Flash Drive

1. (In Ubuntu) Create a bootable USB.

   Note: These instructions vary depending on the system you are using to create a bootable USB

   1. Insert a 4GB or more USB flash drive.
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      (4) "Startup Disk Creator"

   2. Click Ubuntu home:

      (I) Type "Startup Disk Creator".

      (ii) Select "Startup Disk Creator" (4).

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      (5) "Other..."

   3. Under the "CD-Drive/Image" section, click "Other..." (5) and select the ISO to create the bootable USB installer. When the correct ISO has been selected, press "Open".
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      (6) "Erase Disk"

   4. Under "Disk to use:", select the USB drive to use and click "Erase Disk" (6) to wipe the thumb drive completely.

      Note: Make sure that the correct USB device is selected as all data on the device will be lost when this step is performed.

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      (7) "Yes"

   5. Click "Yes" (7) to continue reformatting the USB drive.
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      (8) "Authenticate"

   6. When prompted, enter the root password and click "Authenticate" (8).
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   7. Wait until the free space of the device is the same as the actual capacity before continuing to the next step.
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   8. Click "Make Startup Disk" to begin creating the USB installer. A progress bar will appear. Enter in the root password when prompted. Be patient. This install can take up to 20 minutes depending on USB speed.
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   9. When the installation is complete, a message will pop up. The USB device is now ready to install the OCS system.

Installing OCS Image

Perform the following procedure for installing the OCS image:

Installing the System

1. Set the system to do a one-time boot off the install disc.
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2. When the computer boots off the install disc, an OCS installer splash screen will appear with the install options. If nothing is selected in 10 seconds, the installer will boot off the hard drive in the computer.

3. Using the arrow keys, select the correct install method for the site location. A fully automated install is available for certain time zones. If none of the specific installs are the correct time zone for its application, select the "Other" method.

   Note: Performing this step will completely reformat the computers drive and all data will be lost permanently.

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4. The laptop will now boot into the correct install method. Once the computer has loaded the system, a welcome screen will pop up for the install. Click "Continue" to install the system.

   Note: If using an automated time zone selection, proceed to Step 7. If using the "Other" install method, continue to Step 5.

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5. Select your nearest city in the "Where are you?" menu and press "Continue".
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6. Select the correct keyboard layout and press "Continue".
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7. The installer will now finish installing the system.
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   (9) "Restart Now"

8. A window will pop up when the installation has finished. Press "Restart Now" (9) to reboot the computer.
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9. When the computer reboots, ignore the nuisance messages that may show up. If the computer does not reboot, press the "Enter" key which will cause the system to reboot.

10. Once the system has rebooted, login as the "Pathfinder" user. Use the default OCS login password for "pf" (Pathfinder). If you do not know this password, contact product support.

First Time Login Setup

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1. Once the computer AHS has been logged in to for the first time, a first-time login window will pop up. Click "OK" to begin this script.

   Note: Not all features of OCS will function until the first-time login script has been ran.

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2. A hostname configuration popup will appear. Enter in the desired hostname for the computer and press "OK".

   Note: A hostname MUST begin with a letter and can only contain letters, numbers, hyphens, periods, and underscores (For example, SOL-OCS2, OCS-14).

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   (10) "REBOOT"

3. Once the hostname has been entered, a popup window will appear saying that the system needs to be rebooted. Click "REBOOT" (10) to finish the installation.

   Note: Not all features will work until the system has been rebooted.

Installing the Offline Nvidia Drivers (Optional)

The Nvidia drivers are recommended for running Pathfinder OCS. Pathfinder OCS can still function without the Nvidia drivers but will run less smoothly. Due to different hardware configurations requiring different Nvidia cards, the Nvidia driver is not installed by default on the OCS machine. Two different offline Nvidia drivers are included with the OCS installer. These are provided so that no additional software needs to be downloaded over the Internet for the OCS machine to function. Reference the following URL’s to determine which of the provided offline Nvidia drivers is compatible with the PC.

Once at the website, click the "Supported Products" tab to see which Nvidia driver is compatible with the video card.

Follow the steps below to install the Nvidia Driver:

1. Open a terminal by pressing "CTRL + ALT + T".

2. Navigate to the "additional-offline-drivers" directory by typing the command "cd ~/additional-offline-drivers" and pressing "Enter".

3. Enter the command "sudo apt-offline install nvidia-XXX-offline.zip" to prepare to install the Nvidia driver, where "XXX" is the specific Nvidia driver that is compatible with the installed Nvidia card. If the command is executed correctly, text should fly by specifying that certain deb files were synced.

   Note: There are two different Nvidia drivers to choose from when installing. These drivers cover many different Nvidia cards but may not cover everything. When installing, check for the proper driver which is compatible for the hardware.

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4. Once the files have been synced, install the Nvidia driver with the command "sudo apt-get install nvidia-XXX", where "XXX" is the specific Nvidia driver that is compatible with the installed Nvidia card. Once entered press "Enter" and enter the sudo password of the computer when prompted.
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5. A prompt will appear asking to confirm the installation of the package. Press "Enter" to continue installing.

6. A prompt may appear asking to install the packages without confirmation. Type "y" and press "Enter".
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7. Once the installation has returned to the command prompt, reboot the PC and the device should now have the Nvidia driver installed.

Installing Autonomy Software

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(11) "Select Software"

1. Copy the autonomy software release zip file to "home/pf/Releases/".

   Right-click "Run Launcher" on the Ubuntu launcher and click "Select Software" (11).

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2. Select the desired software version to install and click "OK".
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3. The software will start to uncompress and install.
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4. Once the software has finished being configured, a message will pop up saying that the particular software release has been installed. The software setup is now complete.

Setting Up "etc" Directory

In order for the OCS to sync properly with an autonomous truck, the contents of the "etc" folder from the truck will need to be copied to the new OCS.

1. Connect the OCS laptop to the truck network through the VIMS service port in the cab using the Ethernet connection on the 305-5528 Wiring Harness (VIMS SERVICE).

   Note: The OCS laptop should be configured to use a static IP address on the trucks local network.

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   Launcher icon

2. Double-click the launcher icon.
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   "Launcher" window (15) "Connect"

3. Click "Connect" (15).
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   (12) "Configuration"

4. Click "Configuration" (12).
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   (13) "Load Config From Truck" (14) "Load Config From File"

5. The Site Configuration Utility will open. Select the "File" menu, then click "Load Config From Truck" (13). This action will retrieve the configuration from another Auto ECM (A5:N6), populate the fields in the Site Configuration Utility, and save the config files to the specified directory.
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   "Apply Configuration" window

6. Click "Apply Configuration".
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   "Launcher" window (15) "Connect"

7. Click "Connect" (15) to disconnect and reconnect to the truck.

Confirming Connection to the Truck

1. Connect the OCS laptop to the truck network through the VIMS service port in the cab using the Ethernet connection on the 305-5528 Wiring Harness (VIMS SERVICE).

   Note: The OCS laptop should be configured to use a static IP address on the trucks local network.

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   Launcher icon

2. Double-click the launcher icon.
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   (15) "Connect"

3. Click "Connect" (15).

4. Confirm that the text window at the bottom of the screen does not display any errors after connecting.

Additional Setup

This section provides additional resources for setup that may need to be done depending on the application of the OCS.

Note: This section is not required for a standard OCS build used off onboard the trucks of a DVD image.

Configuring Proxy and internet Access for Cat Networks (If applicable)

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"Dash home" icon

1. Select the "Dash home" icon on the top left of the screen.
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2. Type "Network" in search bar.
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   (16) "Network"

3. Select "Network" (16).
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   (17) "Network Proxy"

4. Select "Network Proxy" (17).
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   (18) "Manual"

5. Select "Manual" (18) in Method drop-down.
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6. Enter the information (Illustration 45) into the proxy setting window (the information should already be typed in).
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   (19) "Apply system wide"

7. When all information is entered, press "Apply system wide" (19) and enter the root password when prompted. Close the window after entering the root password.

Additional Software

Note: All software selections provided in this section are already installed with the new Command for Hauling OCS Live CD installation. This is provided for notation.

SSH Server and Client (Installed by Default)

To install an SSH server so that other computers can SSH into the laptop, run the following commands in a new terminal window and enter the root password when prompted:

• sudo apt-get install opens sh-server

• sudo restart ssh

Wireshark (Installed by Default)

To install Wireshark on the OCS laptop, run the following command, and enter the root password when prompted:

• sudo apt-get install wireshark

• sudo dpkg-reconfigure wireshark-common

• sudo usermod -a -G wireshark $USER

Use the Wireshark web site to find official tutorials:

Wine (Installed by Default)

Wine should be installed to run POSVIEW on OCS. To install Wine on the OCS laptop, run the following command and enter the root password when prompted:

• sudo apt-get install wine

POSView (Installed by Default)

To install POSView, Wine needs to be installed. After Wine is installed, all that is required is the "Windows Executable" for the POSView software to run on the computer. Right-click on the exe file and open the exe file with the Wine.

Network Manager Settings (Already Configured)

Note: Two laptops with the same IP on the same network will have conflicts.

The following networks should be set up:

Changing Default Password for Pathfinder Account

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1. Open the system settings by clicking the "gear" at the top right of the user session and selecting "System Settings…".
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2. Once the system settings open, select "User Accounts".
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3. Once the User Accounts window loads, click the dots next to "Password" to change the current password.
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4. Follow the on-screen prompt to enter in the current and new desired password. Once all the information has been entered, click "Change". If this is a fresh OCS installation, contact product support for the default password for the Pathfinder account.

   Note: The "New password" and "Confirm password" should match, for the "Change" button to become active.