Installing Husarion OS
Husarion OS images can be obtained for many different computer platforms and single board computers, such as the Raspberry Pi 4, UP Board, and Intel NUC.
These computer platforms are use across Husarion robots:
Robot | Computer Platform |
---|---|
Panther | User Computers |
ROSbot XL | Intel NUC or RPi 4 |
ROSbot 2R | RPi 4 |
ROSbot 2 PRO | UP Board |
To reinstall Panther Build-in Computer (RPi 4) follow this guide.
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.
Obtain the image
Select from the available platforms:
- Intel NUC
- Raspberry Pi 4
- UP Board
- USB Installer
- Raw Image
Download one of the following images
Write the image onto a USB Flash Drive
Employ Etcher to write the selected OS image onto a USB Flash Drive. It is recommended to use a USB 3.x pendrive. Next, insert the USB Flash Drive into the USB 3.0 port of the Intel NUC computer.
For ROS Noetic image
For ROS Noetic system image, it may be necessary to turn off "Secure Boot" in your NUC's BIOS settings. Follow the steps below:
- Power on your NUC and press the F2 key.
- Navigate to the Boot tab.
- Select and change the Secure Boot option to Disabled.
- Also on the Boot tab, select Boot Priority, uncheck Legacy Boot and check Boot USB Devices First.
Write the image onto the internal SSD Drive
Connect the pendrive, a keyboard and a display to the SBC and turn the power on.
System does not boot?If the system does not boot from the USB device, press
F12
during computer startup to access BIOS settings and modify the boot order. Also in the Security tab, go to Security Features and uncheck the Intel Platform Trust Technology option.Login to the OS installation system (username and password are
husarion
).Execute the following command in the Linux terminal:
sudo ~/image-install.sh /dev/nvme0n1
You will be prompted to confirm the target disk for OS image installation. If it is correct, press 'y' to initiate the installation process:
File System ResizeThe
image-install.sh
script only copies the image to specified disk. Therefore, it is necessary to follow further instructions, including using thesetup_robot_configuration
, to extend the disk partition.Shutdown the System
Type:
sudo shutdown now
And when the system is turned off, the USB Flash Drive from the USB port.
Download one of the following images
Write the image onto an SSD disk
Use Etcher to write the selected OS image onto an SSD disk and then plug the SSD disk into the appropriate slot in your Intel NUC computer.
for ROS Noetic onlyIt may be necessary to turn off "Secure Boot" in your NUC's BIOS settings. Follow the steps below:
2.1 Power on your NUC and press the F2 key. 2.2 Navigate to the "Boot" tab. 2.3 Select and change the "Secure Boot" option to "Disabled".
Download one of the following images
Write the image onto an SSD disk
Use Etcher or Raspberry Pi Imager to write the selected OS image onto a micro-SD card.
Insert the SD card with into the SD card slot
Ubuntu 20.04 for Up Board is the latest available system image. For this reason, the Husarion OS for UP Board uses ROS 2 Foxy. You can still use newer ROS 2 distributions thanks to Docker containers.
Download one of the following images
Write the image onto a USB Flash Drive
You can use Etcher to write the selected OS image onto a USB Flash Drive.
Connect the USB Flash Drive + HDMI + Keyboard to your robot
Change Boot Order Priorities
4.1. Press Delete or Esc during computer startup to access BIOS settings. When asked for a password, just press Enter (no password is set).
4.2. In
Boot
tab changeFIXED BOOT ORDER Priorities
to following:Boot Option #1 [USB Device]
Boot Option #2 [Hard Disc:ubuntu]
Boot Option #3 [Network]
Boot Option #4 [CD/DVD]4.3.
Save & Exit
tab -Save Changes and Reset
- now the system will boot from the USB device.Write the image onto the internal MMC memory
After restart the system should now boot to Ubuntu 18.04 LTS. You should see:
If the system does not boot from the USB device
5.1. Press Delete or Esc during computer startup to access BIOS settings. When asked for a password, just press Enter (no password is set).
5.2. In
Boot
tab changeFIXED BOOT ORDER Priorities
to following:Boot Option #1 [Hard Disc:ubuntu]
Boot Option #2 [USB Device]
Boot Option #3 [Network]
Boot Option #4 [CD/DVD]5.3. In
Boot
tab go toUEFI Hard Disc Drive BBS Priorities
. Set order to:Boot Option #1 [ubuntu]
Boot Option #2 [ubuntu]
Boot Option #3 [Android-IA]5.4.
Save & Exit
tab -Save Changes and Reset
- now the system will boot from the USB device, and you can proceed to the next steps described below.If it's still doesn't workYou should then reset ROSbot, access BIOS settings again, and in third step change order of
[ubuntu]
. The bios does not distinguish between Ubuntu on disk and Ubuntu on pendrive.Login to the OS installation system (username and password are
husarion
) and execute the following command in the Linux terminal:sudo ~/image-install.sh /dev/mmcblk0
You will be prompted to confirm the target disk for OS image installation. If it is correct, press
y
to initiate the installation process.File System ResizeThe
image-install.sh
script only copies the image to specified disk. Therefore, it is necessary to follow further instructions, including using thesetup_robot_configuration
, to extend the disk partition.Shutdown the System
sudo shutdown now
When the system is turned off, remove the USB Flash Drive from the USB port.
Robot Setup Guide
First run
- Connect a display using HDMI, and plug a mouse and keyboard into the USB port.
- Launch the Application Launcher (Husarion Logo in the top-left corner) > System Tools > Terminator app (or use the
ctrl + alt + t
shortcut).
Robot Configuration
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>
<robot_model>
options
rosbot_xl
if you are using ROSbot XLrosbot_2r
if you are using ROSbot 2Rrosbot_2_pro
if you are using ROSbot 2 PROpanther
if you are using Panther
The Intel NUC computer on the Panther robot currently has official support only for the OS image with ROS Noetic.
<ros_version>
options (optional)
ros_noetic
ros2_humble
vulcanexus_humble
For ROS 2 Humble, Vulcanexus Humble, and ROS Noetic OS images, this parameter is detected automatically.
Examples:
Your Robot | Command to execute |
---|---|
ROSbot XL | sudo setup_robot_configuration rosbot_xl |
ROSbot 2R | sudo setup_robot_configuration rosbot_2r |
ROSbot 2 PRO | sudo setup_robot_configuration rosbot_2_pro |
Proceeding Steps
With your operating system image configured, follow our quick start guides for ROSbot XL or ROSbot 2R / 2 PRO.