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Usage Guide

This guide explains how to add OS images to HOFI and use it to install or update the OS on your robot.

1. Add OS Images to HOFI​

Step 1: Connect the HOFI USB Drive to Your Computer​

You will see three mounted partitions:

  • boot & root – [ignore] These are small system partitions (about 400 MB total) used by HOFI’s minimal Yocto-based OS. You don't need to modify them .
  • os-images – This is where you store OS images for flashing.
📢 Storage Details:

Since HOFI runs on a lightweight Yocto-based system, the os-images partition is maximized after the Initial Setup to about:

TOTAL USB FLASH DRIVE SIZE - 400 MB

Step 2: Copy the OS Image​

warning

🚨 HOFI supports only uncompressed .img files.

If your OS image is in .img.xz format, you must extract it first.

  • On Linux/macOS, run: 
    xz -d /path/to/os/image.img.xz  # This will produce /path/to/os/image.img
  • On Windows (using PowerShell + 7-Zip): 
    7z e C:\path\to\os\image.img.xz -oC:\output\
📌 Where to Find OS Images for Husarion Robots?

If you need an OS image for your Husarion robot, check the official sources below:

1️⃣ Husarion OS

A customized Ubuntu Desktop with setup scripts for:

  • Panther User Computer
  • Lynx User Computer
  • ROSbot XL
  • ROSbot 3 / 3 PRO
  • ROSbot 2R / 2 PRO

🔗 Download: Husarion OS

2️⃣ Panther / Lynx Built-in (Embedded) Computer Image

OS images specifically for Panther and Lynx Built-in Computers based on real-time Linux kernel with running husarion_ugv_ros ROS 2 Driver.

🔗 Download: Panther & Lynx Built-in Computer OS

Once extracted, copy the .img file to the os-images partition:

cd /media/$USER/os-images  # Adjust if needed for non-Ubuntu systems
sudo cp /path/to/os/image.img .
sync
💡 Important:

Do not unplug the USB drive until the copy is fully completed.

2. Flash an OS Using HOFI​

Step 1: Connect and Boot​

  1. Insert the HOFI USB drive into your SBC.
  2. Power on the SBC.
  3. Connect an Ethernet cable from the SBC to your laptop.
🛠️ Built-in DHCP Server:

HOFI automatically assigns an IP address to your laptop in the 192.168.77.0/24 subnet, so no manual network setup is needed.

Step 2: Open the HOFI Interface​

Choose one of the following options:

  • Option 1 (Web UI): Open http://192.168.77.2:8080 in your browser.
  • Option 2 (Terminal UI): Run:
ssh 192.168.77.2

Step 3: Select and Flash the OS​

  1. Choose the target drive (usually only one available).
  2. Pick the OS image you want to flash.
  3. Start flashing by pressing ENTERor clicking the Flash Image button.
  4. Wait until flashing completes.

🎥 Here’s a demo of HOFI in action:

hofi

3. Final Steps​

  1. Power off the SBC.
  2. Remove the HOFI USB drive.
  3. Boot your robot with the new OS! 🚀