Installing a permanent new library on the TIAGo

Installing a permanent new library on the TIAGo

Secure Copy

Copy the .deb installation file to the TIAGo. To get the .deb file from the internet, do apt download $PKG.

💻 pal@development:

scp /path/to/file.deb root@tiago-155c:/home/pal

Installation

Enable Read-Write

By default the TIAGo is in Read-Only, that means all changes except in some folders such as the deployed_ws are stored in the RAM and will be lost at shutdown. Thus to make persistent changes to the memory, we need to enable writing as explained in section #9.3 of the TIAGo handbook.

🤖 root@tiago-155c:

rw
chroot /ro

Install package

🤖 root@tiago-155c:

dpkg -i /path/to/file.deb

Add Library Path

By default, the .sh files in /usr/bin are sourced at startup. Thus we need to add the path to our new library here.

🤖 root@tiago-155c:

echo "LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/opt/new_library_folder" > /usr/bin/pal_env.sh

Restore Read-Only

🤖 root@tiago-155c:

exit
ro