Skip to main content
To get the complete system up and running, make sure you follow the steps mentioned below. Our boot sequence is as follows:
  • Docker service starts
  • Wait 5 seconds to set up the speaker and microphone with echo cancellation
  • Wait 15 seconds before restarting om1
Follow the steps below to get the system up and running
  • Install unclutter on your system to hide the mouse cursor after a period of inactivity: 
    sudo apt install unclutter
  • Install Chromium and lock the snapd version for stability: 
    sudo snap install chromium
snap download snapd --revision=24724
sudo snap ack snapd_24724.assert
sudo snap install snapd_24724.snap
sudo snap refresh --hold snapd
  • Add the script to /usr/local/bin/start-kiosk.sh and make it executable: 
    #!/bin/bash

unclutter -display :0 -idle 0.1 -root &

HOST=localhost
PORT=4173

# Wait for Docker service to listen
while ! nc -z $HOST $PORT; do
echo "Waiting for $HOST:$PORT..."
sleep 0.1
done

exec chromium --kiosk http://$HOST:$PORT --disable-infobars --noerrdialogs
  • Make the script executable: 
    chmod +x /usr/local/bin/start-kiosk.sh
  • Add the script to /etc/systemd/system/kiosk.service to launch the kiosk mode automatically on boot. 
    # /etc/systemd/system/kiosk.service
[Unit]
Description=Kiosk Browser
After=graphical.target docker.service
Requires=docker.service

[Service]
Environment=DISPLAY=:0
ExecStart=/usr/local/bin/start-kiosk.sh
Restart=always
User=openmind

[Install]
WantedBy=graphical.target
  • Enable and start the kiosk service: 
    sudo systemctl daemon-reload
sudo systemctl enable kiosk.service
sudo systemctl start kiosk.service
Note: To stop the kiosk service, use sudo systemctl stop kiosk.service.
  • Setup default speaker and mircophone:
    • Connect your robot with a microphone and a speaker if not already connected.
    • Install pulseaudio, if not already installed 
      sudo apt install pulseaudio
    • Find the available devices using following commands - 
      # for speakers
pactl list sinks
# for microphone
pactl list sources
    Make a note of the device names. 
    mkdir -p ~/.config/systemd/user
vim ~/.config/systemd/user/audio-defaults.service
    Add the following to the file - 
    [Unit]
Description=Set Default Audio Devices
After=pulseaudio.service
Wants=pulseaudio.service

[Service]
Type=oneshot
RemainAfterExit=yes
ExecStart=/bin/bash -c '\
sleep 5 && \
pactl unload-module module-echo-cancel || true && \
pactl load-module module-echo-cancel \
    aec_method=webrtc \
    source_master=alsa_input.usb-046d_Brio_101_2520APKJ1778-02.mono-fallback \
    sink_master=alsa_output.usb-Solid_State_System_Co._Ltd._USB_PnP_Audio_Device_000000000000-00.analog-stereo \
    source_name=default_mic_aec \
    sink_name=default_output_aec \
    source_properties="device.description=Microphone_with_AEC" \
    sink_properties="device.description=Speaker_with_AEC" && \
pactl set-default-source default_mic_aec && \
pactl set-default-sink default_output_aec'

[Install]
WantedBy=default.target
  • Use 
    pactl list short
    and replace alsa_output.usb-Solid_State_System_Co._Ltd._USB_PnP_Audio_Device_000000000000-00.analog-stereo with your speaker source and alsa_input.usb-046d_Brio_101_2520APKJ1778-02.mono-fallback with mic source
  • Enable and start the audio defaults service: 
    systemctl --user daemon-reload
systemctl --user enable audio-defaults.service
systemctl --user start audio-defaults.service
  • Restart the OM1 container to apply these changes when the system starts to do audio configuration: 
docker-compose restart om1
  • Add this service to /etc/systemd/system/om1-container.service to automatically restart the OM1 container on boot (Optional): 
    [Unit]
Description=Restart OM1
After=docker.service multi-user.target
Wants=docker.service

[Service]
Type=simple
ExecStart=/bin/bash -c 'sleep 15 && docker restart om1'
RemainAfterExit=no

[Install]
WantedBy=multi-user.target
Enable and start the om1-container service:

sudo systemctl daemon-reload
sudo systemctl enable om1-container.service
sudo systemctl start om1-container.service
⌘I