Open Sensor Network Run by IPFS

Robonomics Network allows you to communicate with any sensor you wish and get data from the sensor all around the world. This data is packed in rosbag format, so you can easily share it using IPFS protocol.

At this page you'll find step-by-step instruction to connect SEN0233 sensor to Raspberry Pi 4 and make it publish data on demand.

After reading this article you should get the main idea and be able to connect any desired sensor. All of the following steps are done on Linux.


  • SEN0233
  • PM2.5 Sensor Adapter
  • Raspberry Pi 4
  • SD Card >=16Gb

1. Prepare Raspberry Pi 4

1.1 Get the image

The latest AIRA image can be found here


1.2 Write the image on to a SD card

sudo dd if=aira-image-rpi4-20.03pre-git-aarch64-linux.img of=/dev/sda bs=4M status=progress

1.3 Boot with the SD card

Plug in the SD card and connect a power supply to the board. Wait a couple of minutes.

By default OS has root user with empty password. There are a few ways to log in.

First - using UART-USB cable. Connect the cable as shown below:

  • Black to 6th pin
  • White to 8th pin (TXD)
  • Green to 10th pin (RXD)

Check the official documentation out.

Rasbperry Pi UART Connection

The connection is the same for Raspberry Pi 3 and 4.

Then on your laptop run:

screen /dev/ttyUSB 115200

And you should see something similar to:

<<< Welcome to NixOS 20.03pre-git (aarch64) - ttyS0 >>>  
aira-rpi4 login: root (automatic login)  


    _    ___ ____      _      
   / \  |_ _|  _ \    / \   
  / _ \  | || |_) |  / _ \  
 / ___ \ | ||  _ <  / ___ \ 
/_/   \_\___|_| \_\/_/   \_\

My Ethereum address is "38411681740ca6214b448d49549bb1dfd0a0cffa"  

Look me at by "Qmdiiux3uQS8JyuPNa7Vj3iNe7UZBrpMPB2dEqUeo4YRGH"

Save somewhere your ethereum address generated by the OS. You'll need it later.

By default sshd service is up and running. All you need to do is to add your SSH key:

mkdir .ssh/
curl -sSL<USERNAME>.keys >> .ssh/authorized_keys

It's recommended to add your SSH key to Github account help

If you don't have a key attached to your github account then simply put the content of your ~/.ssh/ file to /root/.ssh/authorized_keys file on the SD card.

Another way to put the key is to unplug the SD card, plug it in a laptop and do above steps manually.

After that you should be able to connect to the board via SSH:


1.4. Remove blocking parameters

You'll attach the sensor to GPIO pins which are currently are configured for UART connection.

Open /boot/cmdline.txt and remove everything related to console. In the end it must look like:

cma=256M loglevel=7 init=/nix/store/nlh5fcbb1cj36kn0m2pfvqs7w6dd127w-nixos-system-aira-rpi4-20.03pre197163.0c9d9518676/init



2. Connect SEN0233

Connect the sensor as shown below:

Connect SEN0233

3. Run the Agent

The agent must be run under liability user

su liability

Now clone the repository and build the agent:

git clone
cd sen0233_sensor_agent
nix build -f release.nix

Run the agent:

source result/setup.bash
roslaunch sensors_pack_agent agent.launch

Don't hesitate to check the repository out. You'll see how easily the sensor can be replaced with any other.

4. Test

To test everything works as expected go to the Dapp:<YOUR_ETHEREUM_ADDRESS>/

where <YOUR_ETHEREUM_ADDRESS> is the address generated by OS on step 1.3.

To find out the address again you can run:

rosservice call /eth/accounts