This repository contains an image-builder configuration for building LeoOS images (OS images for Raspberry Pi computer running inside Leo Rover).
For the built, compressed images, visit the Releases page.

The configuration consists of 5 stages, each one creates a valid root filesystem for Raspberry Pi 3/4. The last two stages are exported to bootable SD card images.

Here's a short description and list of changes for each stage:

• stage0 - A bare Ubuntu Server 18.04 32-bit system for Raspberry Pi.
• stage1 - A minimal working system that is a base for LeoOS but does not contain anything specific to Leo Rover.
  • Set regional configuration (locales, timezone, etc.).
  • Add Raspberry Pi 2 Ubuntu PPA repository.
  • Upgrade all packages.
  • Purge some redundant packages.
  • Replace config.txt and cmdline.txt boot configuration files for RPi.
  • Add init_firstboot script that is called upon first boot of the system, which runs scripts from the /etc/firstboot.d directory.
  • Add a script to firtboot config, which extends the filesystem to fill the SD card.
  • Enable SSH Password Authentication.
  • Install network-manager and configure netplan to use it as a default renderer.
  • Set the hostname to leo.
  • Perform some minor system tweaks: enable bash color prompt, disable auto upgrades, disable creation of xdg user directories.
  • Create a default user and add him to different groups.
  • Add Fictionlab apt repository.
  • Add a service which generates SSH host keys upon first boot.
  • Install rng-tools package to use RPi Hardware TRNG to feed kernel entropy pool.
  • Install pi-bluetooth package to enable the onboard bluetooth module.
  • Install VideoCore utilities for RaspberryPi.
• stage2 - A "ROS-ready" minimal system.
  • Add ROS apt repository.
  • Install some base ROS packages.
  • Install rosdep and catkin-tools python packages.
  • Initialize rosdep.
• stage3 - The headless (without graphical interface) version of LeoOS. It is exported to the lite image.
  • Install drivers for Realtek 88XXau WiFi network USB cards.
  • Install hostapd and dnsmasq packages.
  • Configure the network to use the USB WiFi as an Access Point.
  • Add a script to firstboot config, which sets a unique Access Point SSID based on last 4 characters of RPi serial number.
  • Add ap-disable and ap-disable scripts that can be used to Enable/Disable Access Point at runtime.
  • Install ROS packages for Leo Rover.
  • Add robot configuration files under /etc/ros directory.
  • Add scripts for starting and stopping Leo Rover ROS functionality
  • Add the leo systemd service which start Leo Rover ROS functionality upon boot.
  • Install leo_ui and configure a HTTP server to host the Web interface.
  • Install core2-flasher utility.
  • Configure update-motd.
• stage4 - The full version of LeoOS. It is exported to the full image.
  • Install lubuntu core desktop environment, a web browser and a GUI text editor.
  • Change the default wallpaper.
  • Configure lightdm to automatically login to the system.
  • Install ROS desktop packages.
  • Install and configure xrdp server (remote desktop).
  • Add a script to firstboot configuration, which generates keys for xrdp.