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Installing Husarion OS

Requirements​

To reinstall the system, you must have a HOFI flash drive. If you don't already have one, you can do so using HOFI - Initial Setup Guide.

The system installation process consists of the following steps:

  1. Downloading and extracting the image to the HOFI flash drive.
  2. Making one-time changes to the bootloader (you can usually skip this step).
  3. Plug the HOFI USB drive to the target SBC.
  4. Uploading the selected image to the computer's memory.
  5. Execute the configuration script depending on the robot model.
Exception

The exception here are computers with SD cards, such as the RPi 4/5. In their case, it may be easier to upload the image directly to the SD card (e.g., using Balena Etcher or Raspberry Pi Imager). However, the HOFI approach outlined here is also a viable solution.

Select OS Image​

Platform based​

Husarion OS images can be obtained for many different computer platforms and single board computers. Below table specify, which image should be chosen for a commonnly computer which can be found on our robots:

Intel NUCLenovo ThinkStation

Available images:

User Computer SBCOS Image
Intel NUC, Lenovo ThinkStation P360 Tiny (amd64)ROS 2 Jazzy (amd64)
ROS 2 Humble (amd64)
Jetson Orin platformsROS 2 Humble (Jetson)
Lynx/Panther Built-in Computer

DO NOT install Husarion OS on a Built-in Computer in Lynx/Panther!

Architecture based​

Target SBC ArchitectureOS Image
AMD64ROS 2 Jazzy (amd64)
ROS 2 Humble (amd64)
Jetson Orin PlatformROS 2 Humble (Jetson)
Raspberry Pi 4ROS 2 Jazzy (RPi)
ROS 2 Humble (RPi)
Raspberry Pi 5ROS 2 Jazzy (RPi)
Looking for older images?

The images below are outdated and may not be fully compatible with the rest of the documentation.

amd64:

RPi:

UP Board:

To acquire the appropriate operating system image for your SBC and complete the initial setup for your Husarion robot, please adhere to the instructions provided below.

Installing the Husarion OS​

Detailed instruction how flash OS image using HOFI is describe in a separate article: HOFI - Usage Guide.

Robot-Specific Configuration​

This step ensures:

  • expands the partition to its maximum size
  • copies auxiliary files like factory_reset.sh to install and configure the appropriate applications
  • sets up the SSH login panel
  • adds network settings
  • robot specific setup
Using Golden Image?

If you are using golden image, you can skip this step. Robot driver will atomaticly starts up. Only executing sudo rosbot.flash might be required if you are changing ROS distribution.

  1. Connect Hardware

    Plug your ROSbot into a display via HDMI, and attach a mouse and keyboard to the USB ports for easier configuration.

  2. Open the Terminal

    Once booted, launch the Application Launcher (click on the Husarion logo in the top-left corner of the screen) and navigate to System Tools > Terminator app. Alternatively, use the keyboard shortcut Ctrl + Alt + T to open a terminal quickly.

    Operaing system GUI

  3. Run the Setup Command

    Execute the command below with the corresponding command line arguments, based on the Husarion robot you are using:

    sudo setup_robot_configuration <robot_model> [ros_version]

    Examples:

    Your RobotCommand to execute
    ROSbot XLsudo setup_robot_configuration rosbot_xl
    ROSbot 3sudo setup_robot_configuration rosbot_3
    ROSbot 2Rsudo setup_robot_configuration rosbot_2r
    ROSbot 2 PROsudo setup_robot_configuration rosbot_2_pro
    Description of setup_robot_configuration arguments

    Usage: sudo setup_robot_configuration <robot_model> [ros_version]

    [ros_version] options (optional)

    This parameter is detected automatically and can be omitted.

    • ros2_jazzy/jazzy
    • ros2_humble/humble
    • ros_noetic

  4. Finish the Installation Process

    info

    This step requires the robot to be connected to the Internet. Instructions on how to do this can be found in the How to Start guide for your robot.

    Run script to apply factory settings:

    sudo ./factory_reset.sh