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Installing Husarion OS

Husarion OS images can be obtained for many different computer platforms and single board computers, such as the Raspberry Pi 4, Raspberry Pi 5, UP Board, Intel NUC and Lenovo ThinkStation P360 Tiny.

These computer platforms are used across Husarion robots:

RobotSupported Computers
PantherIntel NUC, Lenovo ThinkStation P360 Tiny
ROSbot XLIntel NUC, RPi 5, RPi 4
ROSbot 3RPi 5
ROSbot 2RRPi 4
ROSbot 2 PROUP Board
Panther Built-in Computer

To reinstall Panther Built-in Computer follow this guide.

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

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​

Select from the available platforms:

Intel NUC for ROS

warning

For Intel NUC single-board computers (version 13), the built-in Wi-Fi may not work initially due to missing drivers in the default Linux kernel. This happens because older kernels may lack support for the latest Wi-Fi hardware. To resolve this on Husarion OS, install the necessary hardware enablement (HWE) kernel package and reboot:

sudo apt update
sudo apt install linux-generic-hwe-22.04
sudo reboot now

  1. Download one of the following images

  2. 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:

    1. Power on your NUC and press the F2 key.
    2. Navigate to the Boot tab.
    3. Select and change the Secure Boot option to Disabled.
    4. Also on the Boot tab, select Boot Priority, uncheck Legacy Boot and check Boot USB Devices First.

  3. 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.

    Log in 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:

    installing the OS image with ROS

    File System Resize

    The image-install.sh script only copies the image to specified disk. Therefore, it is necessary to follow further instructions, including using the setup_robot_configuration, to extend the disk partition.

  4. Shut down the System

    Type:

    sudo shutdown now

    And when the system is turned off, remove the USB Flash Drive from the USB port.

Setup Guide​

This step adds configuration files, including compose.yaml necessary to run the ROSbot.

  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 2Rsudo setup_robot_configuration rosbot_2r
    ROSbot 2 PROsudo setup_robot_configuration rosbot_2_pro
    Description of setup_robot_configuration arguments

    <robot_model> options​

    • rosbot_xl if you are using ROSbot XL
    • rosbot_2r if you are using ROSbot 2R
    • rosbot_2_pro if you are using ROSbot 2 PRO

    <ros_version> options (optional)​

    For ROS 2 Humble, Vulcanexus Humble, and ROS Noetic OS images, this parameter is detected automatically and can be omitted.

    • ros_noetic
    • ros2_humble
    • vulcanexus_humble

Proceeding Steps​

With operating system image configured your ROSbot is like brand new. Follow our quick start guides for ROSbot XL or ROSbot 2R / 2 PRO to finish configuration.