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I know that in older distributions there was a package called "pyrocket" that could be used to control this little toys from Ubuntu.

Does anyone know any current package that can be installed on Ubuntu 16.04?

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It is not on main repos anymore, but development is (somehow) still alive (check out its github repo).

To use it with Ubuntu, there is a ppa available.

Use sudo add-apt-repository ppa:zarquon42/ppa to add the ppa. Xenial (16.04) its ok, but there is no Yakkety (16.10) package available at the moment.

Then sudo apt update && sudo apt install pyrocket to cleanly install pyrocket.

Hope it helps.

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