First time connecting

Corresponding components: Software Interface

The robot is by factory default shipped with an Wi-Fi access point enabled. Making it easy for first-time users to connect over Wi-Fi to the robot.

Establishing a connection with the Origin One can be performed in any terminal on Windows, Linux, or Mac. Proceed with following the next steps to establish a connection with the Origin One.

Turn on the Origin One

First, ensure the Origin One is in operational mode, i.e. the internal Linux computer has been fully booted. see starting up the Origin One or booting the Origin One.
Connect to the Origin One's Wi-Fi network

The Origin One will broadcast a Wi-Fi network that you can connect to. This network will be named Origin <serial number> and will not be password protected. You'll receive the <serial number> of the Origin from Avular upon delivery. Go to your computer's Wi-Fi settings and connect to this network. When connected to the access point, you can access the robot's internal Linux computer through the address 192.168.192.1 or origin-<serial number> (e.g. origin-2).

Check the local connection is established

Open a terminal window and run the following command. If the packages send are received, as in the example below, the connection is established. Exit ping using ctrl + c.

> ping 192.168.192.1
PING 192.168.192.1 (192.168.192.1) 56(84) bytes of data.
64 bytes from 192.168.192.1: icmp_seq=1 ttl=64 time=24.7 ms
64 bytes from 192.168.192.1: icmp_seq=2 ttl=64 time=3.66 ms
^C
--- 192.168.192.1 ping statistics ---
2 packets transmitted, 2 received, 0% packet loss, time 1002ms
rtt min/avg/max/mdev = 3.659/14.165/24.671/10.506 ms

Connecting to the robot

Establish an SSH connection by ssh -A avular@<hostname>.local, (replace <hostname> by origin-<serial-number> as default hostname) or via the IP address ssh -A avular@192.168.192.1 which will return the avular@<hostname> once connected (useful if you ever lose your hostname). In the following example, the IP-address is used. If the command asks if you are sure you want to connect, type yes and press enter. You will then be prompted to enter the robot's password. The default password is avular.
```
> ssh -A avular@192.168.192.1
The authenticity of host '192.168.192.1 (192.168.192.1)' can't be established.
ED25519 key fingerprint is SHA256:dq4cSjxcFguh7aYPBiwK2bJpDo7SkrmJW2PRMDAtfD0.
This host key is known by the following other names/addresses:
~/.ssh/known_hosts:87: [hashed name]
Are you sure you want to continue connecting (yes/no/[fingerprint])? yes
Warning: Permanently added '192.168.192.1' (ED25519) to the list of known hosts.
avular@192.168.192.1's password: 
```
Once you're connected successfully in the terminal to the Origin, you'll receive a screen that shows the Avular logo, similar to the one below and it'll display some generic information.
Change the password

We strongly suggest changing the default password. The new password will be required to log in through SSH, or to execute any privileged (sudo) commands, so do not forget it as it is the only way to connect. You can change th password using the following command:
```
passwd
```
Enter the current password, avular, and then enter the new password twice (note that the password won't be displayed as you type it). The password needs to be at least 8 characters long. The password will not be displayed on the screen as you type it and if the password change is successful, you will receive a confirmation message. Please take great care not to lose the password.

Warning

Losing a modified password will require a full factory restore of the Linux computer by Avular. Take good care not to lose the password.
Connecting to a Wi-Fi network optional

The Origin can be configured to setup an access point, and to connect to a Wi-Fi network at the same time. The Wi-Fi adapter can be configured with the avular connectivity command. You can connect to a Wi-Fi network by running the following command:
```
sudo nmtui
```
A password prompt will ask for the user password, which is either the default avular or the changed password as performed in previous step.

This will bring you to a GUI that you can navigate through using the arrow buttons on your keyboard and Enter to select, as is displayed in the following image, where you'll have to select "Activate a connection" to add your WiFi connection:

When you select the WiFi network in the following screen, it'll ask for a password when needed and you can fill it out.

You can check if you have successfully connected to the network by running the following command:
```
> ifconfig wlan0
wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
inet 10.10.110.142  netmask 255.255.255.0  broadcast 10.10.110.255
inet6 fe80::67f1:ef0f:9474:9ee3  prefixlen 64  scopeid 0x20<link>
ether 60:e3:2b:a6:54:7d  txqueuelen 1000  (Ethernet)
RX packets 1180810  bytes 447960367 (447.9 MB)
RX errors 0  dropped 151  overruns 0  frame 0
TX packets 41696  bytes 4206249 (4.2 MB)
TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0
```
Take note of the inet address(10.10.110.142 above), this is the IP address of the robot on the network. You can now connect to the robot using this IP address. The IP address is also displayed on the onboard user display by navigating the menu's using the navigation buttons.

For more information on the Wi-Fi client mode settings, see the Wi-Fi mode guide.
Change the Wi-Fi access point password

We strongly suggest creating an access point password. The new password will be required to connect to the robot's Wi-Fi network, so do not forget it. You can change the password using the following command:
```
sudo wifi_ap enable '<SSID>' '<password>'
```
Where <SSID> is the name of the Wi-Fi network you want to create, e.g. Origin P1234567, and <password> is the password for the Wi-Fi network, which must be at least 8 characters long.

The robot will then broadcast a Wi-Fi network with the specified name and password. If the change is successful, you will receive a confirmation message.

For more information on the Wi-Fi access point, see the Wi-Fi mode guide.
Start using the robot

From here on out you can start planning and executing an autonomous mission, if the approriate autopilot bundles are purchased.

Otherwise, you can start developing custom applications by heading over to the Software Development pages