Set Up New Ubuntu System
From WPI Automation and Interventional Medicine (AIM) Robotics Laboratory
Getting All Needed Files
and extract it. then navigate to the extracted folder and:
Follow the default settings for the WINE install of the PIC32 libraries and enter nothing for the license key.
The rest of the process will take up to an hour, be patient and wait for it to ask for the root password so you can enter it when its ready.