First time connecting

Corresponding components: Software Interface

The Origin One is equipped with a Dual Wi-Fi setup. This allows simultaneous connection via its built-in access point and to an external Wi-Fi network for internet access. By default, the access point is enabled, making it easy to connect for the first time.

Info

If the access point is not visible, you can connect via SSH using a wired network and enable the Wi-Fi manually by following these instructions.

Info

To get connected with the robot you will need to work with so called "terminal windows", i.e., the Command Prompt in Windows, and the Terminal in Linux and macOS.

Connect to the Origin Access Point

Power on the Origin One

Ensure the internal (Linux) computer of the Origin One is fully booted. See Starting Up the Origin One.
Connect to the Origin One's Wi-Fi network

The Origin One provides a Wi-Fi network named Origin <serial number>. This network is open and does not require a password. The serial number of your Origin One will be provided by Avular upon delivery.

Connect to the robot's Wi-Fi network using your computer’s Wi-Fi settings.

Verify the connection

Open a terminal window and run the ping command. If packets are returned (received), the connection is successful. Exit with CTRL + C.

For example:

> 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

Connect to the Origin One

Use SSH to connect to the robot using either the hostname or IP address: ssh -A avular@origin-<serial number>.local or ssh -A avular@192.168.192.1.

If prompted, type yes to confirm the host, then enter the password (avular by default).

A successful connection displays a welcome screen with the Avular logo, similar to the one below.
Change the password

We recommend changing the default password. The new password is required for SSH access and to execute privileged (sudo) commands. Be sure to store it securely, as it is the only way to connect to the robot. Change the password using the following command:
```
passwd
```
You will then be prompted with a question to
- Enter the current password (default: avular, finish by hitting your "enter" button).
- Enter a new password of at least 8 characters (this needs to be done twice, finish by hitting your "enter" button)
The password will not be visible as you type it. If the change is successful, a confirmation message will appear.

Info

Abort password change by entering CTRL + U first, followed by CTRL + D. The prompt passwd: password unchanged will be shown.

Warning

Losing the password requires a full factory reset of your Origin One by Avular.
Start using the robot

From here on out you can either start operating the robot. For example by planning and executing an autonomous mission using Cerebra Studio and the Autopilot Inference, as is explained in the next pages starting from Creating a map. Or 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 One supports a dual Wi-Fi configuration, allowing it to maintain its own access point while simultaneously connecting to an existing Wi-Fi network. This enables internet access for development purposes and supports longer-range connections beyond the access point's reach. Note that this functionality is optional and not required for most operations.

First, you must have an active SSH session with the robot's access point before proceeding (see Step 4 of the previous section on connecting to the access point of the Origin One).

To connect the Origin One to a Wi-Fi network, use the following command:

sudo avular wifi connect <SSID> [password]

where:

<SSID>: is the name of the Wi-Fi network (e.g., MyNetwork)
[password]: is the network password (leave blank if not required)

Note

The sudo command executes the instruction as a superuser, which is required to change network settings. You will be prompted to enter the user password, which is avular by default.

Alternatively, you can use the built-in network manager interface:

sudo nmtui

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:

Select "Activate a connection".

Origin

Choose the desired Wi-Fi network from the list.
Enter the network password if prompted.

Origin

A * next to the network name confirms a successful connection.

Once connected, the robot's IP address on the external network can be found via the Origin onboard user display, accessible by navigating through the menu using the navigation buttons. You can use this IP address to access the robot over the network.

For more information on the Wi-Fi client mode settings, see the Wi-Fi mode guide.