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Ubuntu 26.04 installed (subiquity) supports GUI-configured disk encryption, but only if you wipe the whole disk. That is often not suitable, so this tutorial shows how to work around it.

Initial state

You have a harddrive with several installed operating systems (including e.g. Windows).

Target state

You want to replace one of the installed systems with 26.04 which is encrypted and TPM-unlocked.

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# SPDX-License-Identifier: BSD-3-Clause
# SPDX-FileCopyrightText: Czech Technical University in Prague

###########################
# ROS 1 & 2 Bash Unsource #
###########################

# The provided function `unsource_ros` removes all remnants of ROS 2 from your current environment.
# First source this file (that does nothing) and then execute `unsource_ros` .

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Heavy vibe-coding warning, but it works for me!

Just set API_TOKEN env var to the value of cookie api_token from audioteka.com in you browser after logging in. The token is valid for ~20 minutes, after that, you need a new one.

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Launch

• Where the hell do I find complete docs for XML launch files?
  • https://design.ros2.org/articles/roslaunch_xml.html seems to be the canonical doc
    • but XSD schemata are machine-readable, not human-readable
    • also, it is missing lots of stuff (launch_ros.actions), so e.g. push_ros_namespace is not mentioned in this doc
  • https://docs.ros.org/en/rolling/How-To-Guides/Migrating-from-ROS1/Migrating-Launch-Files.html
    • this is a quite good source, but it isn't comprehensive
• use_sim_time hell (i.e. no support for global parameters)
  • https://discourse.ros.org/t/ros2-use-sim-time-leads-to-inconsistent-clocks/42030/2

peci1

#! /usr/bin/python
# Software License Agreement (BSD License)
#
# Copyright (c) 2010, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#

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#!/usr/bin/env python

from __future__ import print_function

import argparse
import os
import rosbag
import sys

try:

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# Run "iperf3 -s" on "Computer 1" and "python3 gblox.py 10000 IP_OF_OTHER_COMPUTER_1" on "Computer 2".

# Run wireshark on Computer 2 and watch the packets arriving on port 5201.
# You will see all IP packets except the first in each UDP transmission have mangled 4 bytes
# near the beginning of their data sections. The test program shoud send repeated patterns of
# 0123456789abcdef, so it should be quite easy to spot. The 00 at position 7 and 8 is always
# there, 69 on the second blue line is also always there, while 87 seems to be randomly changing.

import socket
import sys