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Appendix: Ubuntu 22.04 Installation Guide

Complete guide for installing Ubuntu 22.04 LTS for SimToFly tutorials.

Choose your installation method:

Virtual Machine Installation

Best for: Beginners, trying before committing, keeping current OS

Pros:

  • Safe - doesn't modify your current system
  • Easy to snapshot and restore
  • Can run alongside Windows/macOS
  • Easy to delete if you change your mind

Cons:

  • Slower performance (especially Gazebo)
  • Requires powerful host computer
  • Shared resources with host OS

Step 1: Install VirtualBox

Download VirtualBox:

  • Visit: https://www.virtualbox.org/wiki/Downloads
  • Download for your OS (Windows, macOS, or Linux)
  • Install VirtualBox

Verify installation:

  • Open VirtualBox
  • Should see main window with no VMs

Step 2: Download Ubuntu 22.04 ISO

Download:

  • Visit: https://ubuntu.com/download/desktop
  • Click "Download Ubuntu 22.04.x LTS"
  • Save ISO file (~4GB download)

File name: ubuntu-22.04.x-desktop-amd64.iso

Step 3: Create Virtual Machine

In VirtualBox, click "New":

Basic settings: 

Name: SimToFly-Ubuntu
Type: Linux
Version: Ubuntu (64-bit)

Memory (RAM): 

Minimum: 8192 MB (8 GB)
Recommended: 12288 MB (12 GB) if host has 16GB+

Hard disk: 

☑ Create a virtual hard disk now
Click "Create"

Disk settings: 

File size: 50 GB minimum (80 GB recommended)
Hard disk file type: VDI (VirtualBox Disk Image)
Storage: Dynamically allocated

Click "Create"

Step 4: Configure VM Settings

Before starting VM, adjust settings:

Right-click VM → Settings

System: 

Motherboard tab:
  Base Memory: 8192 MB (or more)
  Boot Order: Hard Disk first, Optical second

Processor tab:
  Processors: 4 CPUs minimum (6-8 if available)
  ☑ Enable PAE/NX

Display: 

Screen tab:
  Video Memory: 128 MB (maximum)
  ☑ Enable 3D Acceleration

Storage: 

Click "Empty" under Controller: IDE
Click disk icon on right → "Choose a disk file"
Select downloaded Ubuntu ISO

Network: 

Adapter 1:
  ☑ Enable Network Adapter
  Attached to: NAT (or Bridged Adapter for better performance)

Click "OK"

Step 5: Install Ubuntu

Start VM:

  • Select VM → Click "Start"
  • VM boots from Ubuntu ISO

Ubuntu installer:

  1. Language: Select English (or your language)
  2. Install Ubuntu: Click "Install Ubuntu"
  3. Keyboard layout: Select your layout

  4. Updates:

  5. ☑ Normal installation

  6. ☑ Download updates while installing

  7. ☑ Install third-party software

  8. Installation type:

  9. ☑ Erase disk and install Ubuntu (safe - only affects VM disk)
  10. Time zone: Select your location

  11. User setup:

  12. Your name: (your name)

  13. Computer name: simtofly-vm
  14. Username: (your username)
  15. Password: (create strong password)
  16. ☑ Require password to log in

Installation takes: 15-30 minutes

Restart when prompted

Step 6: Install Guest Additions

After Ubuntu boots:

VirtualBox menu → Devices → Insert Guest Additions CD

In Ubuntu terminal: 

sudo apt update
sudo apt install build-essential dkms linux-headers-$(uname -r)
sudo mkdir /media/cdrom
sudo mount /dev/cdrom /media/cdrom
cd /media/cdrom
sudo ./VBoxLinuxAdditions.run

Reboot: 

sudo reboot

Benefits:

  • Better screen resolution
  • Shared clipboard
  • Drag and drop files
  • Better mouse integration

Step 7: Take Snapshot

Before starting tutorials:

VM menu → Machine → Take Snapshot 

Name: Fresh Ubuntu Install
Description: Clean Ubuntu 22.04 before SimToFly setup

Why? If something breaks, restore to this point.

VM Performance Tips

If VM is slow:

  1. Allocate more resources:

  2. More RAM (if host allows)

  3. More CPU cores

  4. More video memory

  5. Enable 3D acceleration:

  6. Settings → Display → Enable 3D Acceleration

  7. Use SSD for VM:

  8. Store VM on SSD, not HDD

  9. Close other applications:

  10. On host OS while running VM

  11. Disable visual effects in Ubuntu: 

       sudo apt install gnome-tweaks
   gnome-tweaks
   # Disable animations

Dual Boot Installation

Best for: Users wanting better performance while keeping current OS

Pros:

  • Full hardware performance
  • Native GPU acceleration
  • Better Gazebo performance
  • Keep existing OS

Cons: - Requires disk partitioning (some risk) - More complex setup

⚠️ Warning: Back up important data before proceeding!

Prerequisites

Before starting:

  • Back up all important data
  • 50GB+ free disk space
  • USB drive (8GB+)
  • Stable power (laptop: plug in charger)
  • BIOS/UEFI access knowledge

Step 1: Create Ubuntu USB

On Windows:

  1. Download Rufus: https://rufus.ie/
  2. Insert USB drive (will be erased!)
  3. Open Rufus
  4. Select your USB drive
  5. Select Ubuntu ISO
  6. Click "Start"
  7. Wait for completion (~5-10 minutes)

On macOS/Linux:

  1. Download Etcher: https://etcher.balena.io/
  2. Insert USB drive
  3. Select Ubuntu ISO
  4. Select USB drive
  5. Flash!

Step 2: Free Up Disk Space

Windows:

  1. Open "Disk Management" (search in Start menu)
  2. Right-click your largest partition (usually C:)
  3. Select "Shrink Volume"
  4. Shrink by: 50000 MB (50 GB) or more
  5. Click "Shrink"
  6. Should see "Unallocated" space

macOS:

  1. Open "Disk Utility"
  2. Select main disk
  3. Click "Partition"
  4. Add partition: 50GB+ for Ubuntu
  5. Format: Free Space
  6. Apply

Step 3: Boot from USB

Enter BIOS/UEFI:

  • Restart computer
  • Press key during startup:
  • Dell/HP: F2 or F12
  • Lenovo: F1 or F2
  • ASUS: F2 or Del
  • Acer: F2 or Del

Change boot order:

  1. Find "Boot" menu
  2. Move USB drive to top
  3. Save and exit (usually F10)

Computer boots from USB:

  • Shows Ubuntu logo
  • Select "Try or Install Ubuntu"

Step 4: Install Ubuntu

Important: Choose "Install Ubuntu alongside [Windows/macOS]"

Installation steps:

  1. Language: English
  2. Install Ubuntu: Click Install
  3. Keyboard: Select layout

  4. Updates:

  5. Normal installation

  6. Download updates
  7. Install third-party software

  8. Installation type:

  9. ☑ Install Ubuntu alongside [your OS] ← Important!

  10. Ubuntu will use free space created earlier
  11. Review partition changes
  12. Time zone: Select location

  13. User setup:

  14. Name, username, password

  15. Computer name: simtofly

Installation: 15-30 minutes

Restart when complete

Step 5: Configure Bootloader

After reboot:

  • Should see GRUB menu
  • Options: Ubuntu, Windows (or macOS)
  • Default: Ubuntu

To change default OS: 

sudo nano /etc/default/grub

Change: 

GRUB_DEFAULT=0    # Ubuntu
# or
GRUB_DEFAULT=2    # Windows (usually)

Update: 

sudo update-grub

Step 6: Verify Both OS Work

Test Ubuntu:

  • Boot into Ubuntu
  • Verify everything works

Test other OS:

  • Reboot → Select Windows/macOS from GRUB
  • Verify it still works

✅ Both work? Dual boot successful!

Dual Boot Tips

Switch between OS:

  • Restart → Choose from GRUB menu
  • Default selection after 10 seconds

If GRUB doesn't show: 

# In Ubuntu:
sudo update-grub

If Windows doesn't appear: 

# In Ubuntu:
sudo os-prober
sudo update-grub

Native Installation

Best for: Dedicated machine for drone development, best performance

Pros:

  • Maximum performance
  • Full hardware access
  • No compromises
  • Best for serious development

Cons:

  • Erases existing OS
  • Requires dedicated hardware

Use this if:

  • You have spare computer
  • You don't need Windows/macOS on this machine
  • You want best performance

Installation Steps

Same as dual-boot, but:

At "Installation type":

  • Choose: "Erase disk and install Ubuntu"
  • Warning: This deletes everything on disk!

Make absolutely sure:

  • You backed up important data
  • You selected correct disk (if multiple disks)
  • You're okay losing current OS

Otherwise: Same as dual-boot installation above

✅ Verify Installation

After installing Ubuntu (any method), verify:

Ubuntu version: 

lsb_release -a
Should show: Ubuntu 22.04.x LTS

System resources: 

# RAM
free -h

# CPU
lscpu | grep "CPU(s)"

# Disk space
df -h /

Internet: 

ping -c 3 google.com

Graphics (if VM): 

glxinfo | grep "OpenGL"

All working? ✅ Ready for Phase 1!

Common Issues

VirtualBox: "VT-x is not available"

Cause: Virtualization disabled in BIOS

Solution:

  1. Restart computer → Enter BIOS
  2. Find "Virtualization Technology" or "VT-x" or "AMD-V"
  3. Enable it
  4. Save and exit BIOS
  5. Try VirtualBox again

Dual Boot: GRUB not showing

Cause: GRUB didn't install properly

Solution: Boot Ubuntu USB → Try Ubuntu → Open terminal: 

sudo add-apt-repository ppa:yannubuntu/boot-repair
sudo apt update
sudo apt install boot-repair
boot-repair
Follow prompts.

Dual Boot: Windows won't boot

Cause: GRUB installed over Windows bootloader

Solution:

  1. Use Boot Repair (above)
  2. Or: Boot from Windows recovery USB
  3. Run: bootrec /fixmbr and bootrec /fixboot
  4. Reinstall GRUB from Ubuntu live USB

Screen resolution wrong in VM

Cause: Guest Additions not installed

Solution: Install Guest Additions (see VM Step 6 above)

Ubuntu installer crashes

Cause: Bad ISO or USB

Solution:

  1. Verify ISO checksum
  2. Re-download ISO
  3. Re-flash USB drive
  4. Try different USB drive

Additional Resources

Official Ubuntu Guides:

  • Installation: https://ubuntu.com/tutorials/install-ubuntu-desktop
  • Dual boot Windows: https://help.ubuntu.com/community/WindowsDualBoot
  • VirtualBox: https://www.virtualbox.org/manual/

Video Tutorials:

  • Search YouTube: "Install Ubuntu 22.04"
  • Filter: Last year

Community Help:

  • Ubuntu Forums: https://ubuntuforums.org/
  • Ask Ubuntu: https://askubuntu.com/

Quick Decision Guide

Choose installation method:

Do you have spare computer?
  YES → Native installation (best performance)
  NO ↓

Are you comfortable with disk partitioning?
  YES → Dual boot (good performance + keep current OS)
  NO ↓

Is your computer powerful? (16GB+ RAM, 8+ cores)
  YES → Virtual Machine (safe + easy)
  NO → Consider dual boot or upgrade hardware

← Back to Prerequisites | Continue to 1.2 Environment Setup →