Based on CustomPiOS

This repository contains the official OpenMowerOS image for running the OpenMower project.

Currently this is based on the latest RaspberryPi OS with the following changes:

• Comitup opens a WiFi hotspot if no known network can be found. Connect to it with any device to connect the robot to your network.

• podman fetches the latest version of the open-mower software and runs it for you automatically.

• OpenOCD is installed with GPIO support, so you can flash your pico's firmware from the Pi4

• socat allows you to redirect your Ardusimple to u-center for configuration

• hostname: openmower

• username: openmower

• password: openmower CHANGE IT! (use passwd for that)

• ssh: enabled on port 22

• hotspot SSID: openmower-<somenumber>

• default hotspot password: openmower

• mower_config.txt: Is in the /boot/openmower directory and can be edited with any PC after flashing the SD card

• mower_version.txt: Is in the /boot/openmower directory and can be used to select the version to run.

1. Burn the latest image available to an SD card.

2. Open the SD cards boot partition and there the openmower folder.

3. Edit the hotspot.txt file to configure the fallback hotspot. Change the password and remember it!

   You find a hotspot.example in there too.

   On boot the system will apply the settings and rename the hotspot.txt to hotspot.settings-applied.

4. (Open the openmower_version.txt and read its explanation. Optionally select a different version.)

5. Edit the mower_config.txt file:

   • check for the latest revision of that file here.

   • if the files differ apply the newest changes.

   • add your changes to that file.

6. Eject the card, put it in the mower (do not close the mower yet) and turn it on.

7. After a short time the hotspot wifi should appear - connect to it.

   • Once you are connected to the hotspot you default browser should automatically open and you should see the wifi configuration webpage:

     

   • Click on your home wifi and fill in you password.

   • The hotspot will disappear and the mower should connect to your wifi

8. Check your router for the mowers IP address (and optionally set a static one)

9. SSH to your mower (the default credentials are above)

10. Change you password! (passwd)

11. If you have mower_config.txt and openmower_version.txt configured, the Open Mower software will start automatically. The first start can easily take more than 10min.

12. Check if everything runs fine by accessing the logs sudo podman logs -f openmower

• theoretically there is an auto update feature for podman but is it not tested yet

For ROS specific commands (e.g. rostopic echo) use ./start_ros_bash in the /home/openmower directory. This will allow you to access ROS.