Steps to installing the code:

- Install a fresh copy of the 32-bit or 64-bit Trixie operating system
  onto a micro SD card with at least 32GB of memory.

- After booting the operating system for the first time
  and setting user preferences, open a terminal window and update the 
  operating system.

sudo apt update && sudo apt full-upgrade

- After update, reboot.

sudo reboot

- Install gstreamer plugins.
- Open a terminal window and run the following command to install a missing dependency:

sudo apt-get install libx264-dev libjpeg-dev

- This command will inform you that 2,884 kB of additional disk space will be used 
  and will ask if you want to continue, answer yes, or y

- Run this next command to install the remaining plugins:
- This command will inform you that 564 MB of additional disk space will be used,
  answer yet or y.

sudo apt-get install libgstreamer1.0-dev \
	libgstreamer-plugins-base1.0-dev \
	libgstreamer-plugins-bad1.0-dev \
	gstreamer1.0-plugins-ugly \
	gstreamer1.0-tools \
	gstreamer1.0-gl \
	gstreamer1.0-gtk3

- Download the solvebotics R22robot.tar file

https://www.solvebotics.com/resources-manuals

python R22robot_fdbk.py

- Should see a message in the terminal window that reads:
 
"Running...
Feedback thread started on UDP port 9039"

- You can terminate the script by pressing <CTRL-C>

- Next, change to the gstreamer directory and edit the R22sendvid.sh script 
  so that the host IP address matches the IP address of the base station Pi.
  
  (*Make sure to set the IP address for the base station Pi and R22 Pi as Static
  IP addresses, so that they stay the same after a reboot.  This is handled
  by setting a DHCP reservation in your WIFI router software.)

cd gstreamer
nano R22sendvid.sh

- Make the R22sendvid.sh executable:

chmod +x R22sendvid.sh

- Test the R22sendvid.sh script with the following command:

./R22sendvid.sh

- If running this from the R22 Pi with a monitor connected you should see a preview window that displays the camera feed.

- You can terminate this script by pressing <ALT>F4

- If the base station Pi is ready, and the /home/<user>/solvebotics/KEYctlgst.py script has been changed to point
  to the R22 Pi IP address, you can now test everything by running the KEYctlgst.py script from the base station:

python KEYctlgst.py

- If everything works, then it's time to make the R22robot_fdbk.py and R22sendvid.sh scripts automatically
  start upon boot.

- This is done by creating service unit files in the /etc/systemd/system folder.  Instructions for this step are 
  described in the /home/<user>/solvebotics/service_unit_files_startup.

