04-12-2022, 04:50 PM(This post was last modified: 04-18-2022, 09:30 AM byAlbert.)
I Have installed robodk software on windows and I have raspberry pi 3+ B model which is connected with 6 of robotic arms? There is the option of connecting. Can i use my raspberry pi IP over there and can i run/ control the robot?
04-12-2022, 06:32 PM(This post was last modified: 04-12-2022, 06:34 PM byAlex.)
(04-12-2022, 04:50 PM)omkar11023 Wrote:I Have installed robodk software on windows and I have raspberry pi 3+ B model which is connected with 6 of robotic arms? There is the option of connecting. Can i use my raspberry pi IP over there and can i run/ control the robot?
The easier way would be to install RoboDK on your Raspberry Pi and control the robot(through RoboDK) using the RoboDK API on your windows computer. Otherwise you would have to do some network routing which is not really part of RoboDK but your network setup.
04-13-2022, 02:04 AM(This post was last modified: 04-19-2022, 05:03 AM byAlbert.Edit Reason: Used code block for script output
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Hi as per your guidance I have downloaded RoboDK in Raspberry Pi. After unzipping it I saw a text file regarding installation. I went step by step, but after executing the last command (i.e. ./RoboDK-Start.sh) I'm getting this error:
Code:
sudo ./RoboDK-Start.sh QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root' QXcbIntegration: Cannot create platform OpenGL context, neither GLX nor EGL are enabled No running instances of RoboDK detected Starting RoboDK v 5.3.0 . 20046 ... OS: PI64 Date build: Mar 6 2021 Main process ID: 4983 Thread ID: 0x76fdf040 qt.qpa.xcb: QXcbConnection: XCB error: 148 (Unknown), sequence: 191, resource id: 0, major code: 140 (Unknown), minor code: 20 Loading settings... Failed to acces global parameters file 设置up default settings... Default settings set Failed to acces global parameters file 设置up default settings... Default settings set 设置s loaded Statusbar: "Language set to English" Updating recent files menu... Created language menu
I see you are trying to launch RoboDK 5.3. The latest version is 5.4. Did you download RoboDK from//www.sinclairbody.com/download?
There might also have been an issue when installing the dependencies, did you notice any errors when installing them? You can try reinstalling as a superuser (sudo sh)
pi@raspberrypi:~/Desktop/Install-RoboDK-Pi $ cd RoboDK-Pi pi@raspberrypi:~/Desktop/Install-RoboDK-Pi/RoboDK-Pi $ sudo sh Install-RoboDK-Dependencies.sh Reading package lists... Done Building dependency tree... Done Reading state information... Done E: Unable to locate package python3-pip Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple Requirement already satisfied: robodk in /usr/local/lib/python3.9/dist-packages (5.4.0) Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple Requirement already satisfied: robodk in /usr/local/lib/python3.9/dist-packages (5.4.0) : not foundoDK-Dependencies.sh: 6: Reading package lists... Done E: You must put some 'deb-src' URIs in your sources.list Reading package lists... Done E: You must put some 'deb-src' URIs in your sources.list Reading package lists... Done Building dependency tree... Done Reading state information... Done E: Unable to locate package libinput-dev Reading package lists... Done Building dependency tree... Done Reading state information... Done E: Unable to locate package libxcb-xinerama0 Reading package lists... Done Building dependency tree... Done Reading state information... Done E: Unable to locate package libtspi-dev : not foundoDK-Dependencies.sh: 14:
Is there any easy way to download robodk in Raspberry pi ( manually)
as you can see in the terminal, there 14 dependencies of RoboDK that could not be installed and there was a prompt where you were denied permission (you should try using sudo)
Unfortunately, linux is not as user friendly as other operating systems and you should get used to Troubleshooting on these kind of systems. This is the standard way to install any program on linux. You can start by making sure your repositories are up to date and trying to install the dependencies that were not found during installation.
If you do not have a fresh installation of Raspbian there might be some packages that are conflicting with these dependencies.
A quick answer to your first question is that yes, you can connect to an instance of RoboDK remotely by starting the Robolink object on your client PC and providing the IP.
Example:
Code:
RDK = Robolink("raspberrypi") # or any valid IP RDK = Robolink("192.168.1.100")
Make sure RoboDK is running on the Raspberry Pi so you can connect from your Windows PC or any other remote client (you can start it manually or as a service).
RoboDK instances on linux/raspberry make the API available from external clients by default (this is not the case on Windows and you would need to make the API reachable from other computers in Tools-Options-Other). Make sure you are using a valid IP to connect.
In my opinion, the install worked. You can validate by starting RoboDK on the Raspberry Pi.
I'm having exactly the same issue as omkar11023, while attempting to install RoboDK on the Raspberry Pi.
It's installed 'successfully' in root and can be seen in there but at the same time it doesn't exist. Using sudo isn't helping either, unfortunately. I really think a thorough instructional video would benefit a great number of people and enable them to get use and enjoyment out of this version of RoboDK. It would be greatly appreciated.
04-18-2022, 06:42 PM(This post was last modified: 04-18-2022, 06:48 PM byRowan Hansard.)
Hello,
Yes. I had a good connection throughout.
Thank you for your time.
Here is my install script output:
Code:
pi@titus:~ $ sudo su root@titus:/home/pi# cd Desktop/Install-RoboDK-Pi root@titus:/home/pi/Desktop/Install-RoboDK-Pi# sudo ./Install-RoboDK.sh Installing RoboDK in the following path: /root/RoboDK
Press any key to continue
Please wait... RoboDK will start when the installation is complete.
Creating directory: /root/RoboDK Changing permissions... Copying files. Please wait... 设置execute attributes to RoboDK folder Installing gedit (RoboDK's default text editor for Linux) Reading package lists... Done Building dependency tree... Done Reading state information... Done The following additional packages will be installed: docbook-xml fonts-dejavu fonts-dejavu-extra gedit-common gir1.2-gtksource-4 gir1.2-peas-1.0 libamtk-5-0 libamtk-5-common libgspell-1-2 李bgspell-1-common libgtksourceview-4-0 libgtksourceview-4-common 李bpeas-1.0-0 libpeas-common libtepl-5-0 libyelp0 sgml-data yelp yelp-xsl Suggested packages: docbook docbook-dsssl docbook-xsl docbook-defguide gedit-plugins perlsgml w3-recs opensp libxml2-utils The following NEW packages will be installed: docbook-xml fonts-dejavu fonts-dejavu-extra gedit gedit-common gir1.2-gtksource-4 gir1.2-peas-1.0 libamtk-5-0 libamtk-5-common 李bgspell-1-2 libgspell-1-common libgtksourceview-4-0 李bgtksourceview-4-common libpeas-1.0-0 libpeas-common libtepl-5-0 libyelp0 sgml-data yelp yelp-xsl 0 upgraded, 20 newly installed, 0 to remove and 0 not upgraded. Need to get 6,846 kB of archives. After this operation, 37.8 MB of additional disk space will be used. Get:1 http://deb.debian.org/debian bullseye/main arm64 sgml-data all 2.0.11+nmu1 [179 kB] Get:2 http://deb.debian.org/debian bullseye/main arm64 docbook-xml all 4.5-9 [84.4 kB] Get:3 http://deb.debian.org/debian bullseye/main arm64 fonts-dejavu-extra all 2.37-2 [2,070 kB] Get:4 http://deb.debian.org/debian bullseye/main arm64 fonts-dejavu all 2.37-2 [32.6 kB] Get:5 http://deb.debian.org/debian bullseye/main arm64 gedit-common all 3.38.1-1 [1,603 kB] Get:6 http://deb.debian.org/debian bullseye/main arm64 libgtksourceview-4-common all 4.8.0-1 [553 kB] Get:7 http://deb.debian.org/debian bullseye/main arm64 libgtksourceview-4-0 arm64 4.8.0-1 [209 kB] Get:8 http://deb.debian.org/debian bullseye/main arm64 gir1.2-gtksource-4 arm64 4.8.0-1 [28.0 kB] Get:9 http://deb.debian.org/debian bullseye/main arm64 libpeas-common all 1.28.0-2 [53.2 kB] Get:10 http://deb.debian.org/debian bullseye/main arm64 libpeas-1.0-0 arm64 1.28.0-2+b1 [62.4 kB] 得到:11 http://deb.debian.org/debian圆心/主要arm64 gir1.2-peas-1.0 arm64 1.28.0-2+b1 [12.7 kB] Get:12 http://deb.debian.org/debian bullseye/main arm64 libamtk-5-common all 5.2.0-1 [7,492 B] Get:13 http://deb.debian.org/debian bullseye/main arm64 libamtk-5-0 arm64 5.2.0-1 [22.0 kB] Get:14 http://deb.debian.org/debian bullseye/main arm64 libgspell-1-common all 1.8.4-1 [31.9 kB] Get:15 http://deb.debian.org/debian bullseye/main arm64 libgspell-1-2 arm64 1.8.4-1 [51.3 kB] Get:16 http://deb.debian.org/debian bullseye/main arm64 libtepl-5-0 arm64 5.0.1-2 [90.7 kB] 得到:17 http://deb.debian.org/debian圆心/主要arm64 gedit arm64 3.38.1-1 [367 kB] Get:18 http://deb.debian.org/debian bullseye/main arm64 libyelp0 arm64 3.38.3-1 [164 kB] Get:19 http://deb.debian.org/debian bullseye/main arm64 yelp-xsl all 3.38.3-1 [445 kB] Get:20 http://deb.debian.org/debian bullseye/main arm64 yelp arm64 3.38.3-1 [779 kB] Fetched 6,846 kB in 3s (2,151 kB/s) Selecting previously unselected package sgml-data. (Reading database ... 92162 files and directories currently installed.) Preparing to unpack .../00-sgml-data_2.0.11+nmu1_all.deb ... Unpacking sgml-data (2.0.11+nmu1) ... Selecting previously unselected package docbook-xml. Preparing to unpack .../01-docbook-xml_4.5-9_all.deb ... Unpacking docbook-xml (4.5-9) ... Selecting previously unselected package fonts-dejavu-extra. Preparing to unpack .../02-fonts-dejavu-extra_2.37-2_all.deb ... Unpacking fonts-dejavu-extra (2.37-2) ... Selecting previously unselected package fonts-dejavu. Preparing to unpack .../03-fonts-dejavu_2.37-2_all.deb ... 开箱fonts-dejavu(2.37 - 2)… Selecting previously unselected package gedit-common. Preparing to unpack .../04-gedit-common_3.38.1-1_all.deb ... Unpacking gedit-common (3.38.1-1) ... Selecting previously unselected package libgtksourceview-4-common. Preparing to unpack .../05-libgtksourceview-4-common_4.8.0-1_all.deb ... Unpacking libgtksourceview-4-common (4.8.0-1) ... 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Processing triggers for libc-bin (2.31-13+rpt2+rpi1+deb11u2) ... Processing triggers for man-db (2.9.4-2) ... Processing triggers for sgml-base (1.30) ... Processing triggers for mailcap (3.69) ... Processing triggers for fontconfig (2.13.1-4.2) ... Processing triggers for desktop-file-utils (0.26-1) ... Processing triggers for hicolor-icon-theme (0.17-2) ... 处理触发gnome-menus(3.36.0-1)… Processing triggers for libglib2.0-0:arm64 (2.66.8-1) ... 设置up docbook-xml (4.5-9) ... 设置up gedit (3.38.1-1) ... update-alternatives: using /usr/bin/gedit to provide /usr/bin/gnome-text-editor (gnome-text-editor) in auto mode Processing triggers for sgml-base (1.30) ... Installing Qt dependencies Reading package lists... Done Building dependency tree... Done Reading state information... Done Package qt5-default is not available, but is referred to by another package. This may mean that the package is missing, has been obsoleted, or is only available from another source
E: Package 'qt5-default' has no installation candidate Reading package lists... Done Building dependency tree... Done Reading state information... Done The following NEW packages will be installed: 李bqt5websockets5 0 upgraded, 1 newly installed, 0 to remove and 0 not upgraded. Need to get 56.3 kB of archives. After this operation, 210 kB of additional disk space will be used. Get:1 http://deb.debian.org/debian bullseye/main arm64 libqt5websockets5 arm64 5.15.2-2 [56.3 kB] Fetched 56.3 kB in 0s (279 kB/s) Selecting previously unselected package libqt5websockets5:arm64. (Reading database ... 95189 files and directories currently installed.) Preparing to unpack .../libqt5websockets5_5.15.2-2_arm64.deb ... Unpacking libqt5websockets5:arm64 (5.15.2-2) ... 建立自由qt5websockets5:arm64 (5.15.2-2) ... Processing triggers for libc-bin (2.31-13+rpt2+rpi1+deb11u2) ... Reading package lists... Done Building dependency tree... Done Reading state information... Done The following additional packages will be installed: 李begl-dev libgl-dev libglu1-mesa libglu1-mesa-dev libglx-dev 李bpthread-stubs0-dev libqt5opengl5 libqt5opengl5-dev libqt5test5 李bvulkan-dev libx11-dev libxau-dev libxcb1-dev libxdmcp-dev libxext-dev qt5-qmake qt5-qmake-bin qtbase5-dev qtbase5-dev-tools qtchooser x11proto-dev x11proto-xext-dev xorg-sgml-doctools xtrans-dev Suggested packages: 李bx11-doc libxcb-doc libxext-doc default-libmysqlclient-dev firebird-dev 李bpq-dev libsqlite3-dev unixodbc-dev The following NEW packages will be installed: 李begl-dev libgl-dev libglu1-mesa libglu1-mesa-dev libglx-dev 李bpthread-stubs0-dev libqt5opengl5 libqt5opengl5-dev libqt5test5 李bqt5websockets5-dev libvulkan-dev libx11-dev libxau-dev libxcb1-dev 李bxdmcp-dev libxext-dev qt5-qmake qt5-qmake-bin qtbase5-dev qtbase5-dev-tools qtchooser x11proto-dev x11proto-xext-dev xorg-sgml-doctools xtrans-dev 0 upgraded, 25 newly installed, 0 to remove and 0 not upgraded. Need to get 6,420 kB of archives. After this operation, 44.6 MB of additional disk space will be used. Get:1 http://deb.debian.org/debian bullseye/main arm64 xorg-sgml-doctools all 1:1.11-1.1 [22.1 kB] Get:2 http://deb.debian.org/debian bullseye/main arm64 x11proto-dev all 2020.1-1 [594 kB] Get:3 http://deb.debian.org/debian bullseye/main arm64 libxau-dev arm64 1:1.0.9-1 [23.2 kB] Get:4 http://deb.debian.org/debian bullseye/main arm64 libxdmcp-dev arm64 1:1.1.2-3 [41.2 kB] Get:5 http://deb.debian.org/debian bullseye/main arm64 xtrans-dev all 1.4.0-1 [98.7 kB] Get:6 http://deb.debian.org/debian bullseye/main arm64 libpthread-stubs0-dev arm64 0.4-1 [5,336 B] Get:7 http://deb.debian.org/debian bullseye/main arm64 libxcb1-dev arm64 1.14-3 [177 kB] Get:8 http://deb.debian.org/debian bullseye/main arm64 libx11-dev arm64 2:1.7.2-1 [828 kB] Get:9 http://deb.debian.org/debian bullseye/main arm64 libglx-dev arm64 1.3.2-1 [16.3 kB] Get:10 http://deb.debian.org/debian bullseye/main arm64 libgl-dev arm64 1.3.2-1 [100 kB] 得到:11 http://deb.debian.org/debian圆心/主要arm64 libegl-dev arm64 1.3.2-1 [19.6 kB] Get:12 http://deb.debian.org/debian bullseye/main arm64 libglu1-mesa arm64 9.0.1-1 [146 kB] Get:13 http://deb.debian.org/debian bullseye/main arm64 libglu1-mesa-dev arm64 9.0.1-1 [186 kB] Get:14 http://deb.debian.org/debian bullseye/main arm64 libqt5opengl5 arm64 5.15.2+dfsg-9 [167 kB] Get:15 http://deb.debian.org/debian bullseye/main arm64 libqt5test5 arm64 5.15.2+dfsg-9 [156 kB] Get:16 http://deb.debian.org/debian bullseye/main arm64 libvulkan-dev arm64 1.2.162.0-1 [586 kB] 得到:17 http://deb.debian.org/debian圆心/主要arm64 x11proto-xext-dev all 2020.1-1 [3,404 B] Get:18 http://deb.debian.org/debian bullseye/main arm64 libxext-dev arm64 2:1.3.3-1.1 [107 kB] Get:19 http://deb.debian.org/debian bullseye/main arm64 qt5-qmake-bin arm64 5.15.2+dfsg-9 [913 kB] Get:20 http://deb.debian.org/debian bullseye/main arm64 qtchooser arm64 66-2 [24.9 kB] Get:21 http://deb.debian.org/debian bullseye/main arm64 qt5-qmake arm64 5.15.2+dfsg-9 [249 kB] Get:22 http://deb.debian.org/debian bullseye/main arm64 qtbase5-dev-tools arm64 5.15.2+dfsg-9 [716 kB] Get:23 http://deb.debian.org/debian bullseye/main arm64 qtbase5-dev arm64 5.15.2+dfsg-9 [1,148 kB] Get:24 http://deb.debian.org/debian bullseye/main arm64 libqt5opengl5-dev arm64 5.15.2+dfsg-9 [77.9 kB] Get:25 http://deb.debian.org/debian bullseye/main arm64 libqt5websockets5-dev arm64 5.15.2-2 [15.0 kB] Fetched 6,420 kB in 3s (2,197 kB/s) Selecting previously unselected package xorg-sgml-doctools. (Reading database ... 95195 files and directories currently installed.) Preparing to unpack .../00-xorg-sgml-doctools_1%3a1.11-1.1_all.deb ... Unpacking xorg-sgml-doctools (1:1.11-1.1) ... Selecting previously unselected package x11proto-dev. Preparing to unpack .../01-x11proto-dev_2020.1-1_all.deb ... Unpacking x11proto-dev (2020.1-1) ... Selecting previously unselected package libxau-dev:arm64. Preparing to unpack .../02-libxau-dev_1%3a1.0.9-1_arm64.deb ... 开箱libxau-dev: arm64(1:1.0.9-1)… Selecting previously unselected package libxdmcp-dev:arm64. Preparing to unpack .../03-libxdmcp-dev_1%3a1.1.2-3_arm64.deb ... Unpacking libxdmcp-dev:arm64 (1:1.1.2-3) ... Selecting previously unselected package xtrans-dev. Preparing to unpack .../04-xtrans-dev_1.4.0-1_all.deb ... Unpacking xtrans-dev (1.4.0-1) ... Selecting previously unselected package libpthread-stubs0-dev:arm64. Preparing to unpack .../05-libpthread-stubs0-dev_0.4-1_arm64.deb ... Unpacking libpthread-stubs0-dev:arm64 (0.4-1) ... 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Creating shortcuts... rm: cannot remove '/root/Desktop/RoboDK.desktop': No such file or directory ./Create-Shortcut.sh: 6: cannot create /root/Desktop/RoboDK.desktop: Directory nonexistent ./Create-Shortcut.sh: 7: cannot create /root/Desktop/RoboDK.desktop: Directory nonexistent ./Create-Shortcut.sh: 8: cannot create /root/Desktop/RoboDK.desktop: Directory nonexistent ./Create-Shortcut.sh: 9: cannot create /root/Desktop/RoboDK.desktop: Directory nonexistent ./Create-Shortcut.sh: 10: cannot create /root/Desktop/RoboDK.desktop: Directory nonexistent ./Create-Shortcut.sh: 11: cannot create /root/Desktop/RoboDK.desktop: Directory nonexistent ./Create-Shortcut.sh: 12: cannot create /root/Desktop/RoboDK.desktop: Directory nonexistent ./Create-Shortcut.sh: 13: cannot create /root/Desktop/RoboDK.desktop: Directory nonexistent ./Create-Shortcut.sh: 14: cannot create /root/Desktop/RoboDK.desktop: Directory nonexistent rm: cannot remove '/root/RoboDK/RoboDK.desktop': No such file or directory Installing RoboDK for Python 2 and Python 3... Installing RoboDK for Python 2 and Python 3... Reading package lists... Done Building dependency tree... Done Reading state information... Done python3 is already the newest version (3.9.2-3). python3 set to manually installed. 0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded. Reading package lists... Done Building dependency tree... Done Reading state information... Done The following additional packages will be installed: idle idle-python3.9 The following NEW packages will be installed: idle idle-python3.9 idle3 0 upgraded, 3 newly installed, 0 to remove and 0 not upgraded. Need to get 361 kB of archives. After this operation, 1,401 kB of additional disk space will be used. Get:1 http://deb.debian.org/debian bullseye/main arm64 idle-python3.9 all 3.9.2-1 [357 kB] Get:2 http://deb.debian.org/debian bullseye/main arm64 idle all 3.9.2-3 [2,820 B] Get:3 http://deb.debian.org/debian bullseye/main arm64 idle3 all 3.9.2-3 [956 B] Fetched 361 kB in 0s (1,187 kB/s) Selecting previously unselected package idle-python3.9. (Reading database ... 98466 files and directories currently installed.) Preparing to unpack .../idle-python3.9_3.9.2-1_all.deb ... Unpacking idle-python3.9 (3.9.2-1) ... Selecting previously unselected package idle. Preparing to unpack .../archives/idle_3.9.2-3_all.deb ... Unpacking idle (3.9.2-3) ... Selecting previously unselected package idle3. Preparing to unpack .../archives/idle3_3.9.2-3_all.deb ... Unpacking idle3 (3.9.2-3) ... 设置up idle-python3.9 (3.9.2-1) ... 设置up idle (3.9.2-3) ... 设置up idle3 (3.9.2-3) ... 处理触发gnome-menus(3.36.0-1)… Processing triggers for man-db (2.9.4-2) ... Processing triggers for mailcap (3.69) ... Processing triggers for desktop-file-utils (0.26-1) ... Reading package lists... Done Building dependency tree... Done Reading state information... Done python3-pip is already the newest version (20.3.4-4+rpt1). 0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded. Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple Collecting robodk Downloading robodk-5.4.0-py2.py3-none-any.whl (96 kB) |████████████████████████████████| 96 kB 986 kB/s Installing collected packages: robodk Successfully installed robodk-5.4.0 Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple Requirement already satisfied: robodk in /usr/local/lib/python3.9/dist-packages (5.4.0) Collecting robodk Using cached robodk-5.4.0-py2.py3-none-any.whl (96 kB) Downloading robodk-5.3.1-py2.py3-none-any.whl (83 kB) |████████████████████████████████| 83 kB 433 kB/s You can delete the RoboDK install folder now
Done! Optionally start RoboDK behind the scenes by typing: /root/RoboDK/RoboDK-Start-Hidden.sh
Optionally start RoboDK as a service on startup: /root/RoboDK/Create-RoboDK-Service.sh
Start RoboDK by typing: /root/RoboDK/RoboDK-Start.sh root@titus:/home/pi/Desktop/Install-RoboDK-Pi#
Here follows the script output for the dependencies installation:
Code:
pi@titus:~ $ sudo su root@titus:/home/pi# cd Desktop/Install-RoboDK-Pi/RoboDK-Pi root@titus:/home/pi/Desktop/Install-RoboDK-Pi/RoboDK-Pi# sudo ./Install-RoboDK-Dependencies.sh Reading package lists... Done Building dependency tree... Done Reading state information... Done E: Unable to locate package python3-pip Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple Requirement already satisfied: robodk in /usr/local/lib/python3.9/dist-packages (5.4.0) Looking in indexes: https://pypi.org/simple, https://www.piwheels.org/simple Requirement already satisfied: robodk in /usr/local/lib/python3.9/dist-packages (5.4.0) : not foundoboDK-Dependencies.sh: 6: Reading package lists... Done E: Unable to find a source package for qt4-x11 Reading package lists... Done E: Unable to find a source package for libqt5gui5 Reading package lists... Done Building dependency tree... Done Reading state information... Done E: Unable to locate package libinput-dev Reading package lists... Done Building dependency tree... Done Reading state information... Done E: Unable to locate package libxcb-xinerama0 Reading package lists... Done Building dependency tree... Done Reading state information... Done E: Unable to locate package libtspi-dev : not foundoboDK-Dependencies.sh: 14: root@titus:/home/pi/Desktop/Install-RoboDK-Pi/RoboDK-Pi#
