Install & Upgrade Software

Table of contents

  1. Prerequisites
  2. Overview
  3. Configure OPKG package manager repository
  4. Check to see what’s already installed
  5. Installing/Upgrading voxl-suite
  6. Next Steps


These instructions assume the user has set up WiFi.


VOXL’s software stack is broken up into 3 parts, each with their own version and ability to upgrade independently or all together.

  • VOXL System Image: This includes the root file system and bootloader partitions. It is only necessary to update the system image to add new hardware driver support.
  • VOXL Factory Bundle: This contains proprietary and 3rd party software packages (updated infrequently and now included with the system image starting with v2.3.0)
  • VOXL Software Suite (voxl-suite): This contains precompiled packages of ModalAI-developed open-source software (updated regularly), which can be installed over the internet using the opkg pakage manager (similar to the apt package manager).
    • Note: previous to System Image 2.3.0, a voxl-software-bundle was used which was similar to the factory bundle.

The system image with built-in factory bundle is available at and can be installed with the flash system image instructions.

Configure OPKG package manager repository

Starting with System Image 2.3.0, the opkg package manager is already configured to look for and install packages from

This package repository is updated frequently with new packages, new features, and bugfixes. It is split into stable and dev repositories. We suggest using the stable repository unless you are working with ModalAI on new/experimental features that you need access to.

If you are on a system image older than v2.3.0 and want to start using the new package repository, simple edit the /etc/opkg/opkg.conf file to include the following repository source information at the end of the file:

yocto:/# vi /etc/opkg/opkg.conf
src/gz stable
## uncomment line below to enable development repository
#src/gz dev

This is also where you will select between the stable and dev repositories.

Check to see what’s already installed

You check to see if voxl-suite is installed along with any other ModalAI packages with opkg list-installed. A recent install of voxl-suite should look something like this:

yocto:/# opkg list-installed | grep "voxl"
libvoxl_io - 0.4.1
voxl-cam-manager - 0.2.2
voxl-docker-support - 1.1.1
voxl-hal3-tof-cam-ros - 0.0.2
voxl-modem - 0.9.3
voxl-nodes - 0.0.8
voxl-rtsp - 1.0.2
voxl-suite - 0.1.2
voxl-utils - 0.5.1
voxl-vision-px4 - 0.6.2
voxl_imu - 0.0.4

Installing/Upgrading voxl-suite

Ensure VOXL is connected to the internet (see how to setup WiFi for more details). Then run opkg update to pull the latest package info. This is similar to “apt update” which you may already be familiar with.

yocto:/# opkg update

If voxl-suite is not yet installed because you are on an older system image or elected not to install it during the system image flashing process, you can install it with the opkg install command. This will install the suite of ModalAI developed open-source supporting software packages.

yocto:/# opkg install voxl-suite

In the future, you can upgrade all the packages in voxl-suite with opkg update and opkg upgrade. Note this will require VOXL to have an internet connection.

yocto:/# opkg update
yocto:/# opkg upgrade

Next Steps

Now we can configure cameras.