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Keep your robot stable and current with software updates, safe charging, and core configuration checks.

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Updating MARS

Use innate-update on the robot to fetch and apply MARS OS updates. Updating will:
  • Fetch the latest compatible Innate OS version
  • Apply code and configuration changes
  • Restart robot software services
If update notes include stereo-depth changes, run Calibration before normal navigation.

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Prerequisites

  • You can access the robot over SSH
  • innate-update is available on the robot
  • The robot has internet access

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Basic workflow

innate-update status
innate-update check
innate-update apply
Use status to verify current version, check to view available updates, and apply to install. During apply, services may restart and the robot can be temporarily unresponsive. If update commands fail, retry once and capture:
  • The command you ran
  • Full terminal error output

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Charging the Battery

Charging has a dedicated page with full safety instructions and a step-by-step procedure.

Charging the Battery

Open the dedicated charging guide.

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Changing the Voice

MARS uses Cartesia for text-to-speech.
  1. SSH into the robot.
  2. Edit .env:
nano ~/innate-os/.env
  1. Add or update:
CARTESIA_VOICE_ID=your-voice-id-here
  1. Restart robot services.

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Method 2: launch file (advanced)

  1. Edit launch file:
~/innate-os/ros2_ws/src/brain/brain_client/launch/brain_client.launch.py
  1. Update cartesia_voice_id default value.
  2. Rebuild:
cd ~/innate-os/ros2_ws && colcon build
  1. Restart MARS.
You can use existing Cartesia voices or create a custom voice:

Cartesia Docs

Cartesia logoVoice library, custom voice cloning, and setup guides.