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Welcome to the Incar Skill System

Pre-requisites

The Incar Skill System requires python 3.12 or higher. You can check if python3.12 is installed by opening a terminal and running the command python3.12.

Installing python 3.12

Open a terminal and run the following commands.

sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt update
sudo apt install python3.12 python3.12-venv

You can download python releases here.

Installation

To install the Incar Skill System, only a couple terminal commands are needed:

  1. Ensure libX11 is installed 

    sudo apt install libx11-dev

  2. Download the incar_authentication file (attached to the email containing your license key). Open a terminal and run the following commands.

    cd Downloads
cat incar_authentication >> ~/.netrc

  3. In the same terminal run the following commands:

    cd ~
python3.12 -m venv incar
source incar/bin/activate
pip install --index-url https://packages.incar-robotics.se/simple/ --extra-index-url https://pypi.org/simple incar

  1. Download the incar_authentication file (attached to the email containing your license key). Open a cmd terminal and run the following commands. 

    cd Downloads
type incar_authentication >> %USERPROFILE%\_netrc

  2. In the same cmd terminal run the following commands:

    cd %USERPROFILE%
python3.12 -m venv incar
incar\Scripts\activate
pip install --index-url https://packages.incar-robotics.se/simple/ --extra-index-url https://pypi.org/simple incar
Install with custom FFmpeg installation

If you don't care about the FFmpeg installation, you can skip this step, and a default FFmpeg version is automatically retrieved from PyPi. However, if you want to use your custom installed FFmpeg version, make sure FFmpeg is installed as a shared library and run the following command:

pip install --force-reinstall av==16.1.0 --no-binary av

To install a custom FFmpeg build on Ubuntu you can run the following commands:

sudo apt install nasm pkg-config
git clone https://github.com/FFmpeg/FFmpeg
cd FFmpeg
./configure --enable-shared
make
make install

Run ./configure -h for more configuration options.

Check if the install works with ffmpeg -v.

Failure

If you get an error similar to ffmpeg: error while loading shared libraries: libavdevice.so.62: cannot open shared object file: No such file or directory, the linker can not find the install path of the library. To solve this:

  • run sudo find / -name libavdevice.so.62 to find where the package is installed (likely in /usr/local/lib on Ubuntu)
  • edit the /etc/ld.so.conf file and add the path on a new line
  • run sudo ldconfig

Start the incar system with the following command:

# Remember to source the environment first with $ `source [path_to_env]/bin/activate`
incar run

# Remember to source the environment first with $ `[path_to_env]\Scripts\activate`
incar run

First Startup

Once the Incar Skill System is installed and you use the regular incar run command, you will be prompted to download the latest GUI version. Once the GUI is downloaded and started, enter your license key and validate it.

Continue to first steps to get started with teleoperation.