First time connecting

Corresponding components: Software Interface

The Origin One is equipped with a Dual Wi-Fi setup, meaning it can simultaneously be accessed through its access point and have the robot connected to an external Wi-Fi network for internet access. The robot is shipped with its Wi-Fi access point enabled, thereby making it easy for first-time users to connect over Wi-Fi to the robot.

If no access point seems to be available, then you may SSH into the robot (for example using a network cable and a terminal) and then turn on the WiFi access point of the robot following these instructions.

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.

Connect to the Origin Access Point

1. 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.

2. 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-pb4u9978).

3. 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
   

4. 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.

   

5. 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 the 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.

   

   Info

   If you need to abort changing the password, proceed with entering CTRL + U followed by CTRL + D. The command line will abort changing the password and will prompt passwd: password unchanged.

   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.

6. Start using the robot

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

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

Connect the Origin to an external Wi-Fi network

The Origin can simultaneously be connected to an existing Wi-Fi network to have internet access with the robot for development and also to connect to the robot over longer distances than the range of the access point. This functionality is optional and thus not required for most functionalities. In order to proceed, you need to have an active SSH connection with the robot as explained above.

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 if the GUI displays an asterisk * in front of the network name.

When the Origin is connected to a Wi-Fi network, you can note the IP address of the robot on the network on the Origin onboard user display by navigating the menu's using the navigation buttons. You can use that IP address to reach the robot on the Wi-Fi network.

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. Note: if you perform this change whilst being connected to the Wi-Fi access point, you'll not receive the confirmation message and the SSH session will end. You will notice the new network name in the list of your available Wi-Fi networks.

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