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, and Intel NUC.

These computer platforms are use across Husarion robots:

Robot	Supported Computers
Panther	Intel NUC
ROSbot XL	Intel NUC, RPi 5, RPi 4
ROSbot 2R	RPi 4
ROSbot 2 PRO	UP 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

USB Installer

1. Download one of the following images

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

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.

   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 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. Shutdown the System

   Type:

   sudo shutdown now

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

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.

   for ROS Noetic only

   It 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".

Raspberry Pi 4 / 5

1. Download one of the following images

   • ROS 2 Jazzy
   • 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.

3. Insert the SD card with into the SD card slot

UP Board

Latest Ubuntu Image for UpBoard

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.

1. Download one of the following images

   • ROS 2 Foxy
   • ROS Noetic
   • Minimal

2. Write the image onto a USB Flash Drive

   You can use Etcher to write the selected OS image onto a USB Flash Drive.

3. Connect the USB Flash Drive + HDMI + Keyboard to your robot

4. 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 change FIXED 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.

5. 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 change FIXED 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 to UEFI 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 work

   You 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 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.

6. Shutdown the System

   sudo shutdown now

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

ROSbot Setup Guide

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

For ROSbots only

This steps shouldn't be executed on Panther User Computer.

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.

   

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 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

   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.