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Due to the currently surging interest in AR Sandbox installations, I am posting complete installation instructions, starting from a blank desktop PC with an Nvidia GeForce graphics card. Due to increasing weirdness in recent versions of Mac OS X (starting with 10.7), I can no longer recommend Mac computers and Mac OS X to drive AR Sandbox installations.
You can also watch a full walk-through video of steps 1-5.
- Install the current version of 64-bit Linux Mint with MATE desktop on a blank desktop computer. This needs to be a real computer; the AR Sandbox does not work from inside a virtual machine.
- Install vendor-supplied drivers for the Nvidia graphics card. Open the Control Center, select “Driver Manager,” wait for the panel to show up and the list of available drivers to be populated, and then select the recommended Nvidia binary driver and press “Apply Changes.” Then wait until the change is complete (might take a while), and reboot your computer.
- Assign a keyboard shortcut to switch windows into full-screen mode. Open the Control Center, go to “Keyboard Shortcuts” (all the way down), find the “Window Management” subsection, and then the “Toggle fullscreen mode” entry. Click on the entry, and assign a new shortcut, for example Ctrl+Alt+F.
- Open a terminal window and enter precisely the following commands (if in doubt, cut & paste directly from this web page, one line at a time). ~ is shorthand for the user’s home directory:
cd ~ wget http://idav.ucdavis.edu/~okreylos/ResDev/Vrui/Build-Ubuntu.sh bash Build-Ubuntu.shThe script run in the last command will ask you for your user’s password to install prerequisite libraries, and then build the Vrui VR toolkit. That will take a little while and produce lots of output, and at the end you’ll be greeted by a spinning globe in a window. Close that window and go back to the same terminal as before:
cd ~/src wget http://idav.ucdavis.edu/~okreylos/ResDev/Kinect/Kinect-2.8-001.tar.gz tar xfz Kinect-2.8-001.tar.gz cd Kinect-2.8-001 make make install make installudevruleThe last command will install a device rule that allows regular users access to the Kinect camera, and might require you to enter your user’s password again. To continue:
cd ~/src wget http://idav.ucdavis.edu/~okreylos/ResDev/SARndbox/SARndbox-1.5-001.tar.gz tar xfz SARndbox-1.5-001.tar.gz cd SARndbox-1.5-001 make… and that’s it. This will leave all support utilities and applications (RawKinectViewer, KinectViewer) in ~/Vrui-3.1/bin, and the AR Sandbox calibration utility and main application in ~/src/SARndbox-1.5-001/bin.
- Plug in your first-generation Kinect device and download intrinsic calibration parameters directly from its firmware. In a terminal window, run:
~/Vrui-3.1/bin/KinectUtil getCalib 0 - Align your camera so that its field of view covers the interior of your sandbox. Use RawKinectViewer to guide you during alignment. To start it, run in a terminal window:
cd ~/src/SARndbox-1.5-001 ~/Vrui-3.1/bin/RawKinectViewer -compress 0 - Calculate your sandbox’s base plane, by following the instructions in the AR Sandbox Calibration – Step 4 video, or this new video that shows all required calibration steps in one. You can use the already-running instance of RawKinectViewer.
- Measure the 3D extents of the sand surface. In the newly-released Kinect-2.8-001 package, this can be done inside RawKinectViewer as well by following the instructions in this video, starting at 4:10. Make sure to measure the box corners in the order lower-left, lower-right, upper-left, upper-right.
- Align your projector such that its image fills the interior of your sandbox. You can use the calibration grid drawn by Vrui’s XBackground utility as a guide. In a terminal:
~/Vrui-3.1/bin/XBackgroundIf the calibration pattern looks messed up, press the full-screen keyboard shortcut once to make the window small, and then press it a second time to full-screen the window again. Press Esc to close XBackground’s window when you’re done.
- Calibrate the Kinect camera and the projector with respect to each other by running the CalibrateProjector utility:
cd ~/src/SARndbox-1.5-001 ./bin/CalibrateProjector -s <width> <height>where <width> <height> are the width and height of your projector’s image in pixels. For example, for an XGA projector like the recommended BenQ, the command would be:
./bin/CalibrateProjector -s 1024 768Very important: switch CalibrateProjector’s window to full-screen mode via the keyboard shortcut before proceeding. Then follow the instructions in this video, starting at 10:10.
- Finally, run the main AR Sandbox application:
cd ~/src/SARndbox-1.5-001 ./bin/SARndbox -uhm -fpvSwitch SARndbox’s window to full-screen mode using the keyboard shortcut, or the calibration created in the previous step will not line up.
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This topic was modified 4 months, 3 weeks ago by
Oliver Kreylos. Reason: Added note about Ubuntu 14.04.1 and direct download link
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This topic was modified 4 months, 2 weeks ago by
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This topic was modified 4 months, 1 week ago by
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Any chance at a walk through video clip? Several errors occur as early as step 2 and would like to see how others, or you, are doing it? And will this work in Oracle VM VirtualBox?
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This reply was modified 5 months, 1 week ago by
kwikstrom.
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What errors are you getting in step 2? Most importantly, are you doing step 2 from inside a virtual machine?
The AR Sandbox does not in general work from inside a virtual machine, as those normally don’t get access to accelerated graphics hardware, which is crucial for running the AR Sandbox. I don’t know enough about Oracle VM VirtualBox to say whether it does or does not.
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Yes, from inside a Virtual Machine. The problem I was having was under Software Sources > Additional Drivers did not detect NVIDIA. But since the VM isn’t accessing the graphics hardware this makes sense.
I did go further in one of my attempts and when installing the Vrui toolkit I received errors that “libcheese”s and “libclutter”s had unmet dependencies. I did somehow manage a work around or a way to meet those requirements.
An issue I had later with the Kinect was it was not being detected when I ran commands such as “lsusb” even when I attempted to pass it through the VM. Sometimes a USB thumb drive would make it through, but not always. Again, all of this is likely stemming from being run in a VM, which doesn’t work as you said. Too bad too, we’d hoped to demo the sandbox at a fair soon. We really appreciate that you placed instructions online for us all.
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Could you elaborate more on how you fixed those dependency issues? I am getting the same on a brand-new Ubu install.
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I attempted this so many times that I cannot remember for certain which methods worked. But if I am remembering correctly, once I downloaded “aptitude” and ran that instead of “apt”, and on a separate attempt I downloaded the utopic versions (prior versions I think). If I can remember positively I will post more here for you.
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What version of Ubuntu was this?
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14.04.2 The latest on the download site.
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This reply was modified 5 months, 1 week ago by
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After thinking, the next question I would like to ask (probably a better one too) is: What’s the best avenue towards a working AR Sandbox if starting from a Windows 8.1 OS?
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The AR Sandbox software, or, rather, the underlying Vrui VR toolkit, does not run under Windows.
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In dual boot?
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Dual boot works fine. As long as Linux runs on the real hardware, it’s OK.
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Maybe lock this install thread, and place the questions elsewhere?
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I too ran into problems with step 4 above.
After executing: “bash Build-Ubuntu.sh”, I got the following:Reading package lists… Done
Building dependency tree
Reading state information… Done
Note, selecting ‘libpng12-dev’ instead of ‘libpng-dev’
Note, selecting ‘libtiff5-dev’ instead of ‘libtiff-dev’
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help resolve the situation:The following packages have unmet dependencies:
libcheese-gtk23 : Depends: libclutter-gtk-1.0-0 (>= 0.91.8) but it is not going to be installed
Depends: libcogl15 (>= 1.15.8) but it is not going to be installed
libcheese7 : Depends: libclutter-gst-2.0-0 (>= 0.10.0) but it is not going to be installed
Depends: gstreamer1.0-clutter but it is not going to be installed
libclutter-1.0-0 : Depends: libcogl-pango15 (>= 1.15.8) but it is not going to be installed
Depends: libcogl15 (>= 1.15.8) but it is not going to be installed
E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages.
Problem while downloading prerequisite packages; please fix the issue and try againDid I miss an obvious step?
I’d appreciate any specific suggestions you can give.THanks.
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Which version of Ubuntu was this?
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I am running into the same problem when installing in a fresh Ubu 14.04 install. I ran apt-get install individually for each of the prerequisite packages. I got hung up on the last 2 (libgl1-mesa-dev and libglu1-mesa-dev). When I locate and install the appropriate .deb files, I get the error that the unresolved dependency is because of mesa-common-dev. However, that package is already installed.
No time now to look further, but may have time later today (teaching would be so much better without all those pesky students).
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Hi Oliver – my version of Ubuntu 14.04 LTS
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Must be a hardware-ish issue on my end. I just installed the Vrui software with no hiccups on my 3+year old laptop (Ubu 14.04) with no problem.
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I’m having this problem too. My laptop is Lenovo Y400 with NVIDIA GeForce GT 650M
fathahnoor@Lenovo-IdeaPad-Y400:~$ bash Build-Ubuntu.sh Please enter your password to install Vrui's prerequisite packages Reading package lists... Done Building dependency tree Reading state information... Done Note, selecting 'libpng12-dev' instead of 'libpng-dev' Note, selecting 'libtiff5-dev' instead of 'libtiff-dev' Some packages could not be installed. This may mean that you have requested an impossible situation or if you are using the unstable distribution that some required packages have not yet been created or been moved out of Incoming. The following information may help to resolve the situation: The following packages have unmet dependencies: libcheese-gtk23 : Depends: libclutter-gtk-1.0-0 (>= 0.91.8) but it is not going to be installed Depends: libcogl15 (>= 1.15.8) but it is not going to be installed libcheese7 : Depends: libclutter-gst-2.0-0 (>= 0.10.0) but it is not going to be installed Depends: gstreamer1.0-clutter but it is not going to be installed libclutter-1.0-0 : Depends: libcogl-pango15 (>= 1.15.8) but it is not going to be installed Depends: libcogl15 (>= 1.15.8) but it is not going to be installed E: Error, pkgProblemResolver::Resolve generated breaks, this may be caused by held packages. Problem while downloading prerequisite packages; please fix the issue and try again fathahnoor@Lenovo-IdeaPad-Y400:~$-
This reply was modified 5 months, 1 week ago by
fathahnoor.
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I too was having those same dependency errors. I did a fresh install of Ubuntu 14.04.2 on a HP Z400 workstation. I am not sure if this is the best way to do this but I did this and it looks like it has worked so far.
sudo apt-get remove libcheese*
and
sudo apt-get remove libclutter* -
Oh on second thought don’t do it exactly like I did. It must break something else because not when I reboot it does not load up at all.
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This reply was modified 5 months, 1 week ago by
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This appears to be a packaging bug in Ubuntu 14.04.2. Until they fix it, you’ll have to fix the dependencies manually or use the previous release, 14.04.1.
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I change it to 14.04.1 and it working now, thanks!
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So I now have the sandbox working. Calibration so far seems decent. Will probably do a few more times to fine-tune.
So the problem I still have is poor water simulation performance.
The computation/rendering of the water on top of sand topography is slow and jerky.
I’m running Ubuntu 14.04.1 (that fixed previous issues).
CPU: 4th gen i7
RAM: 24GB
GPU: NVidia 980GTXThoughts/suggestions?
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Hi,
your machine should be more than capable to do the computation. I had a very slow water performance as well, with an nvidia gtx770 card. try one of the other nvidia drivers. that solved it for me.
Cheers, Manu
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Most probably a driver problem. Use the “Additional Drivers” control panel to install the binary Nvidia driver, and that should fix it.
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I am getting the following error after “bash Build-Ubuntu.sh”. Does anyone have any suggestions? I am using Linux Mint 17.1 Mata
“Creating pkg-config meta data file…
Linking /home/zephyr/src/Vrui-3.1-003/lib/x86_64-linux-gnu/libMisc.g++-3.so.3.1…
Linking /home/zephyr/src/Vrui-3.1-003/lib/x86_64-linux-gnu/libPlugins.g++-3.so.3.1…
Linking /home/zephyr/src/Vrui-3.1-003/lib/x86_64-linux-gnu/libGLWrappers.g++-3.so.3.1…
/usr/bin/ld: cannot find -lGL
collect2: error: ld returned 1 exit status
make: *** [/home/zephyr/src/Vrui-3.1-003/lib/x86_64-linux-gnu/libGLWrappers.g++-3.so.3.1] Error 1
make: *** Waiting for unfinished jobs….
Build unsuccessful; please fix any reported errors and try again”-
Strange. Did you install the binary Nvidia driver via “Driver Manager,” as in step 2 and shown in the video?
Also, please post the output of the following command:
find /usr/lib* -name "libGL*"-
I was unable to install the driver using the driver manager, no drivers were visible. I had to manually install the driver using the terminal.
zephyr@zephyr-H81M-HD3 ~ $ find /usr/lib* -name “libGL*”
/usr/lib/i386-linux-gnu/libGLESv2.so
/usr/lib/i386-linux-gnu/libGLESv1_CM.so
/usr/lib/i386-linux-gnu/libGL.la
/usr/lib/i386-linux-gnu/libGLESv1_CM.so.1
/usr/lib/i386-linux-gnu/libGLESv2.so.346.59
/usr/lib/i386-linux-gnu/libGLU.so.1.3.1
/usr/lib/i386-linux-gnu/libGLU.so.1
/usr/lib/i386-linux-gnu/libGLESv2.so.2
/usr/lib/i386-linux-gnu/libGL.so
/usr/lib/i386-linux-gnu/libGL.so.346.59
/usr/lib/i386-linux-gnu/libGLESv1_CM.so.346.59
/usr/lib/i386-linux-gnu/libGL.so.1
/usr/lib/x86_64-linux-gnu/libGLESv2.so
/usr/lib/x86_64-linux-gnu/libGLU.so
/usr/lib/x86_64-linux-gnu/libGLESv1_CM.so
/usr/lib/x86_64-linux-gnu/mesa/libGL.so
/usr/lib/x86_64-linux-gnu/libGLU.a
/usr/lib/x86_64-linux-gnu/libGL.la
/usr/lib/x86_64-linux-gnu/libGLESv1_CM.so.1
/usr/lib/x86_64-linux-gnu/libGLESv2.so.346.59
/usr/lib/x86_64-linux-gnu/libGLU.so.1.3.1
/usr/lib/x86_64-linux-gnu/libGLU.so.1
/usr/lib/x86_64-linux-gnu/libGLESv2.so.2
/usr/lib/x86_64-linux-gnu/libGL.so
/usr/lib/x86_64-linux-gnu/libGL.so.346.59
/usr/lib/x86_64-linux-gnu/libGLESv1_CM.so.346.59
/usr/lib/x86_64-linux-gnu/libGL.so.1
/usr/lib/libGL.so.1
/usr/lib32/nvidia-304/libGL.la-
This reply was modified 4 months, 1 week ago by
bailey1080.
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This reply was modified 4 months, 1 week ago by
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Graphics card is a nVidia GTX 970
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Hy
The entire installation went smoothly as your videos shows. The only problem is in the las step 11. When I try to run AR Sandbox application in terminal window I get this:0.155481 x 0.15066
segmentation faultAnd ARSandbox doesn’t want to start. It is like nothing heppend..
can anyone help me ?Thanks
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RawKinectViewer, KinectViewer, and CalibrateProjector all worked fine?
Please run the sandbox as
SARndbox -fpv -ws 0.0 0to temporarily disable water simulation and see if that works.
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Hi Olivier,
First, huge thanks for releasing your tool to the wild, it was an excellent surprise while reviewing what solutions existed make Kinect-based sandboxes, you’re saving me a ton of time and headaches!
And you even give us the luxury of detailed tutorials and videos… Which by the way was a good idea, because you mentioned something in there that wasn’t in the text. In step 4, for installudevrule, Mint requests the password. The trick is Mint actually automatically gives the pwd to make because we entered it previously. In the terminal that’s not indicated at all, so I was trying to figure out why I couldn’t enter the password, tried to remember how sudo was working etc, then went to the video where you explained it.
May I suggest you edit the instructions to include the trick? It might help fellow sandboxers that have forgotten about the little things Linux does, like me
Thanks again!
Kr,
Jhon
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Hy
All worked fine… just Sandbox doesn’t want to start.. :S
I tried dissable water as you say but nothing happend… -
Hi, i was just wondering
would it be possible to give me the measurements needed for this project? of the metal pole + height/width of the sandbox, the depth of the sand, height of the projector and the kinect from the ground.
Would appreciate this.
Thanks
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Hi,
I just went through the all steps and it works perfectly! I just need a sandbox though …
I installed the software on my office computer which have a Quadro 600. But I need to use a laptop instead.
The [extra] one which we have in the lab has an Intel HD Graphics 4600. Do you think that I can use it for sandbox?Thanks
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When I run ~/Vrui-3.1/bin/RawKinectViewer -compress 0, I see both screens, but they are pinned to the top to quadrants of the grid. How do you move them to the center of the screen?
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Hi jblack, I apologize for the late response. Hopefully you have figured that step out. When you are at the RawKinectViewer screen, simply hold down the “z” button on your keyboard while moving the mouse to center the depth sensing projection. Once centered, let off the “z” key and scroll in or out as needed.
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Hi,
Attempting to do this install. Running Linux Mint 17.1, Rebecca. When I get to the “bash Build-Ubuntu.sh”, I get the following errors…
“After this operation, 42.5 MB of additional disk space will be used.
Do you want to continue? [Y/n] y
Err http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/ trusty/main libegl1-mesa-drivers amd64 10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty
404 Not Found
Err http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/ trusty/main libgles2-mesa amd64 10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty
404 Not Found
Err http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/ trusty/main libgl1-mesa-glx i386 10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty
404 Not Found
Err http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/ trusty/main libgl1-mesa-glx amd64 10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty
404 Not Found
Err http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/ trusty/main libglapi-mesa amd64 10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty
404 Not Found
Err http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/ trusty/main libglapi-mesa i386 10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty
404 Not Found
Err http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/ trusty/main mesa-common-dev amd64 10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty
404 Not Found
Err http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/ trusty/main libgl1-mesa-dev amd64 10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty
404 Not Found
E: Failed to fetch http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/pool/main/m/mesa/libegl1-mesa-drivers_10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty_amd64.deb 404 Not FoundE: Failed to fetch http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/pool/main/m/mesa/libgles2-mesa_10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty_amd64.deb 404 Not Found
E: Failed to fetch http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/pool/main/m/mesa/libgl1-mesa-glx_10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty_i386.deb 404 Not Found
E: Failed to fetch http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/pool/main/m/mesa/libgl1-mesa-glx_10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty_amd64.deb 404 Not Found
E: Failed to fetch http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/pool/main/m/mesa/libglapi-mesa_10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty_amd64.deb 404 Not Found
E: Failed to fetch http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/pool/main/m/mesa/libglapi-mesa_10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty_i386.deb 404 Not Found
E: Failed to fetch http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/pool/main/m/mesa/mesa-common-dev_10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty_amd64.deb 404 Not Found
E: Failed to fetch http://ppa.launchpad.net/xorg-edgers/ppa/ubuntu/pool/main/m/mesa/libgl1-mesa-dev_10.6.0~git20150614+10.6.9dc43dc3-0ubuntu0ricotz~trusty_amd64.deb 404 Not Found
E: Unable to fetch some archives, maybe run apt-get update or try with –fix-missing?”
We are a Windows schools environment, so not a ton of experience with Linux. However, if there is something small or obvious we are missing, any help would be appreciated.
Thanks!
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You may want to double check and make sure you copy and pasted the entire command line before you reached “bash Build-Ubuntu.sh”.
Part of the command is somewhat hidden as you have to scroll all the way over to the right in order to copy the entire line. So the full second command line should read “wget http://idav.ucdavis.edu/~okreylos/ResDev/Vrui/Build-Ubuntu.sh“
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