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Version: 2.0.0

Installing Updates

The following page details the steps to update the OutdoorNav software that is already installed on your platform.

note

Please ensure that you have received an email advising you that an update is available since only those who receive the update emails will be have access to the update files.

Download​

  1. Click the link that was sent to you in the update email. You will be sent to a cloud storage drive with the following file structure (/Documents/General/Releases/...)

  2. Navigate to the version folder you wish to update to and download the following files:

    • cpr-onav-ui.tar

    • cpr-onav-base.tar

    • cpr-onav-autonomy.tar

    • cpr-onav-app.zip

  3. Connect to the robot

    Option 1: via ethernet (port located inside of the rear charge port door)

    Option 2: via wifi (Husky SSID: cpr_a300_amp_xxx)

  4. Transfer all files to the robots /opt/onav/ folder

    Linux:

    scp cpr-onav-app.zip cpr-onav-ui.tar cpr-onav-base.tar cpr-onav-autonomy.tar robot@192.168.131.1:/opt/onav/

    Windows: Use FileZilla Client to transfer all files to the robot.

    SFTP Connection:

    • Host: sftp://192.168.131.1

    • Username: robot

    • Password: clearpath

note

If you are upgrading to version 2.1.0 from 2.0.x please also navigate to Documents/General/Releases/2.1 (on the cloud storage), download one of the following files :

  • outdoornav.yaml.amp for standard AMP robots, or,

  • outdoornav.yaml.observer for Observer robots.

Transfer the file to the robot:

scp outdoornav.yaml.amp robot@192.168.131.1:/opt/onav/
scp outdoornav.yaml.observer robot@192.168.131.1:/opt/onav/

Finally, navigate to the Documents/General/Releases/2.1 (on the cloud storage), download the update script and transfer it to the robot:

scp update.py robot@192.168.131.1:/opt/onav/ros2/app/upgrade/

Update​

  1. Run the below command to update the version of OutdoorNav, where <latest_version> is the folder of the last version of OutdoorNav that has been installed on the robot and <new_version> is the version you want to update to.

    python3 /opt/onav/<latest_version>/app/upgrade/update.py -v <new_version> -c amp

    Eg. To update from version 2.0.0 to version 2.1.0 run the following

    python3 /opt/onav/ros2/app/upgrade/update.py -v 2.1.0 -c amp

    • this will create a new version folder in /opt/onav/

    • copy all persistent data from the last version

    • installs the app folder

    • stops the currently running version of OutdoorNav

    • starts the new version of OutdoorNav

note

If you have an Observer model robot please use the following command to update

python3 /opt/onav/ros2/app/upgrade/update.py -v <new_version> -c observer

Cleanup​

  1. Remove all extraneous files

    rm /opt/onav/cpr-onav-ui.tar /opt/onav/cpr-onav-base.tar /opt/onav/cpr-onav-autonomy.tar /opt/onav/cpr-onav-app.zip
note

If you have an standard AMP model robot please use the following command to finalize cleanup:

rm /opt/onav/outdoornav.yaml.amp

If you have an Observer model robot please use the following command to finalize cleanup:

rm /opt/onav/outdoornav.yaml.observer
note

If you have made any customisation changes to the app/ directory of your previous version, you will need to make these same modifications manually yourself to the new versions app/ directory files.

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