Skip to content

Plant Imager controllerLink

We use a Raspberry Pi 4 as a "main controller" to: 1. control the CNC (with Oquam) over USB 2. create a local Wi-Fi network

It thus acts as an access point for other devices, notably for the PiCamera(s) (Pi Zero W).

Initial setupLink

Flash Raspberry Pi OSLink

To flash the OS on the microSD, have a look at the official Raspberry Pi OS instructions here.

We strongly advise to use the Raspberry Pi Imager as it will allow you to set the hostname, create a user and its password prior to booting the RPi.

If you have access to snaps, use the rpi-imager package from the store:

sudo snap install rpi-imager
This will guarantee to access the latest version of the imager tool with the configurable options!

Then the procedure to install and configure is as follows:

  1. Open the Imager app
  2. Choose the OS, we use the Raspberry Pi OS (64bit) as we have an RPi4
  3. Select the storage device
  4. Click the "Advanced options" icon (bottom right)
  5. Click "Set hostname" and set it to plant-imager
  6. Click "Set username and password" and set it to romi (or something else) and use a password
  7. Optionally set the "locale settings"
  8. Hit the "Save" button (this should close the "Advanced options" windows and go back to the main one)
  9. Finally, hit the "Write" button to flash the OS to the microSD.

Manually change the hostnameLink

We strongly advise to give a specific hostname to each device to avoid having the all named raspberrypi.

Choose option A OR B, then reboot the RPi!


RFCs mandate that a hostname's labels may contain only the ASCII letters 'a' through 'z' (case-insensitive), the digits '0' through '9', and the hyphen. Hostname labels cannot begin or end with a hyphen. No other symbols, punctuation characters, or blank spaces are permitted.

A. Using raspi-configLink

It is possible to change the hostname with the raspi-config tool:

sudo raspi-config
Then move to 1 System Options > S4 Hostname. Enter the desired hostname, e.g. plant-imager, and hit <OK>.

B. Command-lineLink

For example, we want to rename our first romi-camera plant-imager. We can do so by changing /etc/hostname & /etc/hosts with:

export NEW_HNAME="plant-imager"
sudo sed "s/raspberrypi/$NEW_HNAME/" /etc/hostname
sudo sed "s/raspberrypi/$NEW_HNAME/" /etc/hosts

Manually create the romi userLink

Boot the RPi, login with the default pi user & raspberry password. Then create the user romi with:

sudo adduser romi
This will also create the home directory for this user and ask for a password.


We should probably give instructions to remove the default pi user, or at least to remove it from the sudo group?! sudo deluser --remove-home pi

Add the romi user to groupsLink

Add this user to dialout, video & sudo groups with:

sudo adduser romi dialout
sudo adduser romi video
sudo adduser romi sudo

Rotate the 7'' touchscreenLink

To rotate the 7'' touchscreen, with an RPi 4 and the latest Raspberry OS:

  1. Hit the raspberry main menu
  2. Got to Preference > Screen Configuration
  3. On the Screen Layout Editor menu bar, hit Configure, select Screens > DSI-1 > Orientation and select inverted.
  4. Hit the "Green check" icon to validate!
  5. It should ask you to reboot to apply changes.

Install OquamLink

Install the system requirementsLink

To install the system requirements, simply run:

sudo apt install build-essential cmake git libpng-dev libjpeg-dev

Clone the sourcesLink

To clone the sources from the ROMI GitHub repository, simply run:

git clone --branch ci_dev --recurse-submodules


The --recurse-submodules option will automatically initialize and update each submodule in the repository.

Compile the sourcesLink

Then move to the cloned directory and compile the oquam app with:

cd romi-rover-build-and-test
mkdir build
cd build
cmake ..
make oquam

Configure the controller to act as a hotspotLink

To configure the RPi4 to act as a hotspot you may use the CLI, as root:

sudo bash tests-hardware/  --ssid "Plant Imager" --pwd "my_secret_password!"

This will:

  • install the required dependencies
  • configure the routing tables
  • set the name of the SSID
  • set the password to use to connect to the hotspot


Change the password as it is not so secret anymore!

Install the plant-imagerLink

Install system requirementsLink

You will need python and pip, that can be easily installed as follows:

sudo apt update
sudo apt install python3 python3-pip

Add the user's private bin to the $PATHLink

We have to add a few lines to the .bashrc file so the locally installed Python library are available.

To do so, simply copy/paste the following lines in the terminal:

cat<<EOF >> ~/.bashrc

# set PATH so it includes user's private bin if it exists
if [ -d "$HOME/.local/bin" ] ; then

Clone the sourcesLink

To clone the plant-image sources from the ROMI GitHub repository, simply run:

cd  # Move back to the user home directory
git clone --branch dev_lyon --recurse-submodules


The --recurse-submodules option will automatically initialize and update each submodule in the repository.

Install the sourcesLink

Then move to the cloned directory and install the plant-imager Python library and its submodules (plantdb & romitask) with:

# Don't forget to activate the environment!
cd plant-imager
# Install `plantdb` requirements & sources from submodules:
python -m pip install -r ./plantdb/requirements.txt
python -m pip install -e ./plantdb/
# Install `romitask` sources from submodules:
python -m pip install -e ./romitask/
# Install `plant-imager`:
python -m pip install -e .

Test the installationLink

To test the installation of the Python libraries you can run:

python -c "import plantdb"
python -c "import romitask"
python -c "import plantimager"

If no error message is returned, you are all set with this part, well done!