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
Base OS	Ubuntu Server 22.04 LTS	Ubuntu Server 22.04 LTS	Ubuntu Server 20.04 LTS	Ubuntu Server 22.04 LTS
Docker version	23.0.1	23.0.1	23.0.1	23.0.1
Docker Compose version	v2.16.0	v2.16.0	v2.16.0	v2.16.0
ROS packages	ros-humble-desktop ros-humble-teleop-twist-keyboard	vulcanexus-humble-desktop ros-humble-teleop-twist-keyboard	ros-noetic-desktop-full ros-noetic-teleop-twist-keyboard	-
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	-	-	ROS_MASTER_URI=\ http://127.0.0.1:11311 ROS_IP=127.0.0.1	-

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

1. Download one of the images

• Vulcanexus Humble
• ROS 2 Humble
• ROS Noetic
• Minimal

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.

Raspberry Pi 4

To run Husarion OS image on Raspberry Pi, follow the steps bellow:

1. Download one of the images

• Vulcanexus Humble
• ROS 2 Humble
• ROS Noetic
• Minimal

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.

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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

1. Plug in a display with HDMI, mouse and keyboard into the USB port.
2. 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

1. Plug in one end of the Ethernet cable into your computer and another one to the SBC.

2. 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

3. 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 also husarion.

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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 2R
• rosbot_xl if you are using ROSbot XL

<ros_version> options:

• ros_noetic
• ros2_humble
• vulcanexus_humble

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Next steps

Now your operating system image is configured and you can follow our quick start guides for ROSbot XL or ROSbot 2R.