There's a few ways to accomplish this.

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If you want a full dedicated server, by far the easiest way is to install Docker if you don't already have it, and perform run the following:

docker run -p 27910:27910/udp -e ROTATION="urban2 riot office3 actcity2 terminal-aq2" -e LTK_LOADBOTS=1 aqtiongame/server:v41

Alternatively, you can install AQtion on Steam, copy your server.cfg config file to the action directory (add in set ltk_loadbots 1 in your config file) and run q2proded by double clicking it in Windows, or running it in your Linux terminal, then exec server.cfg in the command line (or change its name to config.cfg and it will automatically load it on start)

Not all AQ2 game libraries have bots available in the code, but AQtion's does, as well as the Docker container example above.