Operating System Images
Husarion OS is a Ubuntu LTS based operating system customized for ROS powered robots.
You can choose one from 4 available flavours depending on ROS distribution you want to use:
- ROS 2 Humble
- Vulcanexus Humble
- ROS Noetic
- Minimal
💡 Compare
ROS 2 Humble | Vulcanexus Humble | ROS Noetic | Minimal | |
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Base OS | Ubuntu Server 22.04 LTS | Ubuntu Server 22.04 LTS | Ubuntu Server 20.04 LTS | Ubuntu Server 22.04 LTS |
Docker version |
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Docker Compose version |
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ROS packages |
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| - |
Installed DDS (default bold) | rmw_fastrtps_cpp rmw_cyclonedds_cpp | rmw_fastrtps_cpp | - | - |
Graphical desktop environment | LXQt | LXQt | LXQt | - |
VPN | Husarnet VPN Client | Husarnet VPN Client | Husarnet VPN Client | Husarnet VPN Client |
Additional Envs | - | - |
| - |
Husarion OS images are available for Raspberry Pi 4 and Intel NUC single board computers. Follow the steps below to get the operating system image for your SBC and perform the initial configuration for your Husarion robot.
Get the image​
Choose one of available platforms:
- Intel NUC
- Raspberry Pi 4
1. Download one of the images
2. Burn the image on SSD disk
Use Etcher to burn the chosen os image on the SSD disk and then plug the SSD disk into the appropriate slot in your Intel NUC computer.
To run Husarion OS image on Raspberry Pi, follow the steps bellow:
1. Download one of the images
2. Burn the image on SSD disk
Use Etcher or Raspberry Pi Imager to burn the chosen os image on a micro-SD card. Now insert the SD card with into the SD card slot and connect the power adapter to your Pi.
First run​
Now you need to get access to a Linux terminal of the SBC. There are two options:
Option 1: Using display, mouse and keyboard​
- Plug in a display with HDMI, mouse and keyboard into the USB port.
- Open Application Launcher (Husarion Logo in top-left corner) > System Tools > Terminator app (or with a
ctrl
+alt
+t
shortcut)
Option 2: Using an Ethernet adapter​
Plug in one end of the Ethernet cable into your computer and another one to the SBC.
Set a static IP address on your computer for its Ethernet card in a
192.168.77.0/24
subnet, eg:- IPv4:
192.168.77.27
- mask:
255.255.255.0
- IPv4:
To connect with ROSbot via ssh, type in your terminal application:
user@mylaptop:/home/user$ssh husarion@192.168.77.2
The default password for user
husarion
is alsohusarion
.
Setup for a robot​
Depending on what Husarion robot you are using, launch the command below with the appropriate command line arguments:
sudo setup_robot_configuration <robot_model> <ros_version>
<robot_model>
options:​
rosbot_2r
if you are using ROSbot 2Rrosbot_xl
if you are using ROSbot XL
<ros_version>
options:​
ros_noetic
ros2_humble
vulcanexus_humble
Next steps​
Now your operating system image is configured and you can follow our quick start guides for ROSbot XL or ROSbot 2R.