Installing Husarion OS

Husarion OS images can be obtained for both Raspberry Pi 4 and Intel NUC single board computers. 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

USB Installer

info

Utilizing a USB 3.x pendrive is advised.

1. Download one of the following images

• ROS 2 Humble
• Vulcanexus Humble
• Minimal

2. Write the image onto a USB Flash Drive

Employ Etcher to write the selected OS image onto a USB Flash Drive. Next, insert the USB Flash Drive into the USB 3.0 port of the Intel NUC computer.

info

If you have selected the 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 the "Secure Boot" option from the list.
4. Change the "Secure Boot" option to "Disabled".

3. Write the image onto the internal SSD Drive

Boot the image from the pendrive.

danger

If the system does not boot from the USB device, press F12 during computer startup to access BIOS settings and modify the boot order.

Execute the following command in the Linux terminal:

$ sudo ~/image-install.sh

You will be prompted to confirm the target disk for OS image installation. If it is correct, press 'y' to initiate the installation process:

4. Restart the System

At this point, you may remove the USB Flash Drive from the USB port and reboot the SBC.

Raw Image

1. Download one of the following images

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

2. 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.

info

If you have selected the 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 the "Secure Boot" option from the list.
4. Change the "Secure Boot" option to "Disabled".

Raspberry Pi 4

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

1. Download one of the following images

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

2. Write the image onto an SSD disk

Use Etcher or Raspberry Pi Imager to write the selected OS image onto 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

To access the Linux terminal of the SBC, you have two options:

Option 1: Utilizing a display, mouse, and keyboard

1. Connect a display using HDMI, and plug a mouse and keyboard into the USB port.
2. Launch the Application Launcher (Husarion Logo in the top-left corner) > System Tools > Terminator app (or use the ctrl + alt + t shortcut).

Option 2: Employing an Ethernet adapter

1. Connect one end of the Ethernet cable to your computer and the other end to the SBC.

2. Assign a static IP address to your computer's Ethernet card within the 192.168.77.0/24 subnet, for example:

   • IPv4: 192.168.77.27
   • mask: 255.255.255.0

3. To establish an ssh connection with the robot, enter the following command in your terminal application:

   user@mylaptop:/home/user$

   ssh husarion@192.168.77.2

   The default password for user husarion is husarion.

---

Robot Setup

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_2r if you are using ROSbot 2R
• rosbot_xl if you are using ROSbot XL

<ros_version> options:

• ros_noetic
• ros2_humble
• vulcanexus_humble

For ROS 2 Humble, Vulcanexus Humble, and ROS Noetic OS images, this parameter is optional.

---

Proceeding Steps

With your operating system image configured, follow our quick start guides for ROSbot XL or ROSbot 2R.