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| sudo apt-get install avahi-daemon avahi-discover avahi-utils libnss-mdns mdns-scan |
I looked them up to know what each one does.
avahi-daemon is the core service on your device that makes it publish itself via mDNS. This is the only thing you need to make your device respond to {hostname}.local. It seems like it can also advertise other services on the network through mDNS though, but I'm not sure.
avahi-discover is a GUI app to show other services published through mDNS. I didn't need it.
mdns-scan is a CLI that also scans for mDNS services on the local network. Useful for troubleshooting, but I also didn't need it.
avahi-utils is a collection of CLI tools that could be useful, but I didn't need them for my server. It includes things like avahi-browse which is similar to the above two tools.
libnss-mdns is useful for client devices that want to access services published via mDNS. So if you want your device to reach other .local services, you need this installed.
May I suggest the following as an all-in-one?
sudo apt update && sudo apt-get install avahi-daemon avahi-discover avahi-utils libnss-mdns mdns-scan && sudo apt upgrade. Once that looks good,sudo reboot. That got me going on my new Ubuntu install on the TuringPi RK-1 modules.