Comprehensive Tutorial on Mender.io in the Context of RobotOps

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Posted on | by priteshgeek

Introduction & Overview

What is Mender.io?

Mender.io is an open-source, over-the-air (OTA) software update manager designed for embedded Linux devices, particularly suited for IoT and edge computing environments. It provides a secure, robust, and scalable solution for deploying, managing, and monitoring software updates across fleets of devices. Mender.io supports both full operating system (OS) updates and application-specific updates, ensuring devices remain secure, compliant, and up-to-date with minimal manual intervention.

History or Background

Mender.io was developed by Northern.tech, a company founded in 2008 with a mission to secure connected devices through effective lifecycle management. The project began in response to the growing need for a standardized, open-source solution for OTA updates in IoT ecosystems, where many organizations relied on insecure or inefficient homegrown systems. Launched as an open-source project under the Apache License 2.0, Mender has evolved with contributions from a global community, integrating with tools like Yocto Project and supporting major cloud platforms like AWS and Azure. Its development has been driven by the increasing prevalence of edge computing and the need for reliable update mechanisms in distributed systems. By 2025, Mender powers OTA updates for over a million devices worldwide, serving Fortune 1000 clients in industries like maritime, healthcare, and smart homes.

  • 2016: Mender.io was released by Northern.tech, a company focused on IoT and edge-device solutions.
  • Initially designed for Linux-based IoT devices, it expanded to support application updates, containerized workloads, and enterprise fleet management.
  • Over the years, it gained adoption in automotive, robotics, healthcare, drones, and industrial IoT.
  • Today, it is widely used in OTA management for robotics fleets, making it a key tool in RobotOps pipelines.

Why is it Relevant in RobotOps?

RobotOps, a subset of DevSecOps tailored for robotic systems, focuses on the development, deployment, security, and maintenance of software for autonomous or semi-autonomous robots. Mender.io is highly relevant in RobotOps because:

  • Scalability: Manages updates for large fleets of robotic devices deployed in diverse environments, such as warehouses, hospitals, or agricultural fields.
  • Security: Ensures secure OTA updates with features like mutual TLS and rollback mechanisms, critical for robots handling sensitive tasks.
  • Automation: Integrates with CI/CD pipelines to automate software delivery, reducing downtime in mission-critical robotic operations.
  • Robustness: Supports dual A/B partitioning for fail-safe updates, ensuring robots remain operational even after power or network interruptions.
  • Flexibility: Accommodates both OS and application updates, supporting the complex software stacks of modern robotic systems.

Mender.io aligns with RobotOps’ need for continuous delivery, compliance, and remote management, making it a cornerstone for maintaining robotic fleets at scale.

Core Concepts & Terminology

Key Terms and Definitions

TermDefinition
Mender ArtifactA tar file containing update files, metadata, and configuration for deployment.
Mender ClientSoftware running on devices to poll the Mender Server and install updates.
Mender ServerCentral management system for storing artifacts and controlling deployments.
A/B PartitioningDual redundant filesystem layout ensuring rollback to a working state on failure.
Standalone ModeLocal update mode (e.g., via USB) without server connectivity.
Managed ModeUpdates managed via the Mender Server for connected devices.
Mender GatewayProxy for devices in isolated networks to connect securely to the Mender Server.
Update ModuleCustom scripts following a state machine pattern for tailored update logic.

How It Fits into the RobotOps Lifecycle

Mender.io integrates into the RobotOps lifecycle across development, deployment, and maintenance phases:

  • Development: Mender integrates with build systems like Yocto to create artifacts for robotic software stacks.
  • Deployment: Automates OTA updates to deploy new features or patches to robots in the field, supporting CI/CD workflows.
  • Maintenance: Monitors device status, applies security patches, and ensures compliance with industry standards.
  • Recovery: Uses A/B partitioning to recover from failed updates, critical for robots in remote or hazardous environments.

This alignment ensures robotic systems remain operational, secure, and adaptable to evolving requirements.

Architecture & How It Works

Components and Internal Workflow

Mender.io operates on a client-server architecture with the following components:

  • Mender Server: A microservices-based backend (using Traefik, NATS, MongoDB, and S3-compatible storage) for managing artifacts, scheduling deployments, and monitoring devices.
  • Mender Client: Runs on devices, polling the server via HTTPS to check for updates, download artifacts, and install them.
  • Mender Gateway: Facilitates secure communication for devices in isolated networks.
  • Build System: Generates Mender artifacts (e.g., via Yocto or Jenkins) for specific device types.
  • Add-ons: Extensions like Mender Connect for remote terminal, file transfer, and monitoring.

Workflow:

  1. The build system creates a Mender artifact (e.g., a root filesystem image).
  2. The artifact is uploaded to the Mender Server via UI or API.
  3. The server schedules deployments to device groups.
  4. The Mender Client polls the server, downloads the artifact, and installs it.
  5. The client reports success or triggers a rollback using A/B partitioning.

Architecture Diagram Description

The Mender.io architecture can be visualized as follows (image not possible, so described):

  • Top Layer: CI/CD Pipelines (e.g., Jenkins, Yocto) generate Mender artifacts.
  • Middle Layer: Mender Server (microservices: Device Authentication, Inventory, Deployments, etc.) communicates via an API Gateway (Traefik) and stores data in MongoDB and S3-compatible storage. NATS handles messaging for orchestration.
  • Bottom Layer: Mender Client on devices polls the server via HTTPS. Mender Gateway proxies communication for isolated devices.
  • Data Flow: Artifacts flow from CI/CD to the server, then to devices. Status reports flow back to the server.
+--------------------------+           +--------------------------+
|        DevOps/CI/CD      |           |       Robot Fleet        |
|   (Builds Artifacts)     |           | (Mender Client Installed)|
+------------+-------------+           +-------------+------------+
             |                               |
             v                               v
+--------------------------+           +--------------------------+
|      Mender Server       |<--------->|  Robot Devices (Clients) |
| - Artifact Repo          |   HTTPS   | - Downloads Updates      |
| - Device Groups          |           | - Installs Artifacts     |
| - Update Management      |           | - Rollback if Failure    |
+--------------------------+           +--------------------------+

Integration Points with CI/CD or Cloud Tools

  • CI/CD: Integrates with Jenkins, GitLab, or GitHub Actions to automate artifact creation and deployment.
  • Cloud: Supports AWS IoT Core, Azure IoT Hub, and Google Cloud for device authentication and storage.
  • Yocto: Provides a meta-layer for seamless integration into embedded Linux builds.
  • APIs: REST APIs enable programmatic control of deployments and device management.

Installation & Getting Started

Basic Setup or Prerequisites

  • Hardware: Embedded Linux device (e.g., Raspberry Pi) with A/B partition support.
  • Software:
    • Yocto Project or Debian-based OS for building artifacts.
    • Dependencies: libarchive-dev, libssl-dev, libsystemd-dev for Ubuntu/Debian.
    • Mender Client and Server software (available on GitHub).
  • Network: Stable internet for managed mode; USB for standalone mode.
  • Access: Mender.io account for hosted server or local server setup.

Hands-on: Step-by-Step Beginner-Friendly Setup Guide

This guide sets up Mender on a Raspberry Pi using Yocto.

  1. Prepare the Build Environment:
    • Install Yocto dependencies:
sudo apt-get install gawk wget git-core diffstat unzip texinfo gcc-multilib \
build-essential chrpath socat cpio python3 python3-pip python3-pexpect \
xz-utils debianutils iputils-ping python3-git python3-jinja2 libegl1-mesa \
libsdl1.2-dev pylint3 xterm

Clone the Yocto Poky repository:

git clone -b dunfell git://git.yoctoproject.org/poky
cd poky

Clone the meta-mender layer:

git clone -b dunfell git://github.com/mendersoftware/meta-mender

2. Configure Yocto for Mender:

  • Add Mender to conf/bblayers.conf:
BBLAYERS += "${TOPDIR}/../meta-mender/meta-mender-core"
  • Update conf/local.conf:

MENDER_ARTIFACT_NAME = “release-1.0”
INHERIT += “mender-full”
MACHINE = “raspberrypi4-64”

3. Build the Image:

  • Run the Yocto build:
source oe-init-build-env
bitbake core-image-full-cmdline
  • Output: A .mender artifact in build/tmp/deploy/images/raspberrypi4-64/.

4. Flash the Image:

  • Use balenaEtcher to flash the .sdimg file to an SD card.
  • Insert the SD card into the Raspberry Pi and boot.

5. Set Up Mender Server:

  • For hosted Mender, sign up at https://hosted.mender.io.
  • For on-premise, clone and run the Mender Server:

git clone https://github.com/mendersoftware/mender-server
cd mender-server
./run

6. Configure Mender Client:

  • Edit /etc/mender/mender.conf on the device:
{
  "ServerURL": "https://hosted.mender.io",
  "TenantToken": "your-tenant-token"
}

7. Deploy an Update:

  • Upload the .mender artifact via the Mender UI.
  • Create a deployment targeting the Raspberry Pi.
  • The client polls, downloads, and installs the update.

    Real-World Use Cases

    Scenario 1: Warehouse Robotics

    • Context: A logistics company uses autonomous robots for inventory management.
    • Application: Mender deploys firmware updates to fix navigation bugs, ensuring robots adapt to new warehouse layouts without downtime.
    • Benefit: Automated updates reduce manual intervention, maintaining operational efficiency.

    Scenario 2: Healthcare Robotics

    • Context: Clinomic uses Mender to update medical robots in remote European ICUs.
    • Application: OTA updates deliver new diagnostic algorithms, ensuring compliance with healthcare regulations.
    • Benefit: Secure updates maintain patient safety and regulatory compliance.

    Scenario 3: Agricultural Drones

    • Context: Drones monitor crop health in rural areas with limited connectivity.
    • Application: Mender’s standalone mode updates drone software via USB, while managed mode handles connected drones.
    • Benefit: Flexibility supports diverse deployment scenarios.

    Scenario 4: Maritime Robotics

    • Context: MacGregor uses Mender for robotic systems on ships with constrained bandwidth.
    • Application: Delta updates minimize data transfer, delivering new control algorithms.
    • Benefit: Efficient updates ensure reliability in remote maritime environments.

    Benefits & Limitations

    Key Advantages

    AdvantageDescription
    SecurityMutual TLS, signed artifacts, and rollback mechanisms ensure secure updates.
    ScalabilityManages thousands of devices across diverse environments.
    Open SourceApache 2.0 license allows customization and community contributions.
    FlexibilitySupports both OS and application updates, standalone and managed modes.
    IntegrationSeamless with Yocto, AWS, Azure, and CI/CD pipelines.

    Common Challenges or Limitations

    ChallengeDescription
    Complex SetupInitial Yocto integration and A/B partitioning require technical expertise.
    Bandwidth ConstraintsLarge OS updates may strain low-bandwidth networks, though delta updates help.
    Hardware DependencyA/B partitioning requires specific hardware support, limiting compatibility.
    Learning CurveConfiguring custom update modules or add-ons can be complex for beginners.

    Best Practices & Recommendations

    Security Tips

    • Use mutual TLS for client-server communication.
    • Sign all artifacts to prevent unauthorized updates.
    • Regularly audit device inventory via the Mender UI.

    Performance

    • Use delta updates to minimize data transfer.
    • Optimize polling intervals in mender.conf to balance update frequency and battery life.
    • Leverage Mender Gateway for devices in isolated networks.

    Maintenance

    • Monitor device status via the Mender UI to detect failed updates.
    • Maintain a “golden image” for rollback in case of critical failures.
    • Regularly update the Mender Client to the latest version.

    Compliance Alignment

    • Use Mender’s audit logs and reporting for regulatory compliance (e.g., HIPAA for healthcare).
    • Implement role-based access control (RBAC) for enterprise deployments.

    Automation Ideas

    • Integrate with CI/CD pipelines to automate artifact creation and deployment.
    • Use REST APIs to script deployment schedules and device grouping.

    Comparison with Alternatives

    FeatureMender.ioBalenaCloudAWS IoTRITMS UP2DATE
    Open SourceYes (Apache 2.0)Partial (core is proprietary)NoNo
    Update TypeOS & application, A/B partitioningContainer-based updatesApplication-focusedOS & application
    SecurityMutual TLS, rollback, signed artifactsSecure container deliveryAWS-native securityCustom security protocols
    ScalabilityHigh (millions of devices)High (container focus)Very high (cloud-native)Moderate
    Ease of UseModerate (requires Yocto expertise)High (container simplicity)Moderate (AWS integration)High (SaaS focus)
    IntegrationYocto, AWS, Azure, CI/CDDocker, CI/CDAWS ecosystemLimited integrations
    Best ForEmbedded Linux, RobotOpsContainerized IoT appsAWS-centric IoTSimple IoT management

    When to Choose Mender.io

    • Choose Mender.io for embedded Linux devices requiring robust OS updates, open-source flexibility, and integration with Yocto or cloud platforms.
    • Choose Alternatives:
      • BalenaCloud: For container-based IoT applications with simpler setup.
      • AWS IoT: For AWS-centric ecosystems with minimal OS update needs.
      • RITMS UP2DATE: For lightweight, SaaS-based IoT management without complex integrations.

    Conclusion

    Mender.io is a powerful, open-source solution for managing OTA updates in RobotOps, offering scalability, security, and flexibility for robotic fleets. Its robust A/B partitioning, CI/CD integration, and support for diverse environments make it ideal for industries like healthcare, logistics, and maritime. While setup complexity and hardware requirements pose challenges, its benefits outweigh limitations for embedded Linux systems.

    Future Trends:

    • Increased adoption in edge computing and autonomous robotics.
    • Enhanced delta update capabilities for bandwidth-constrained environments.
    • Deeper integration with AI-driven RobotOps workflows for predictive maintenance.

    Next Steps:

    • Explore Mender’s official documentation: docs.mender.io
    • Join the Mender Hub community: hub.mender.io
    • Experiment with a Raspberry Pi setup to test Mender’s capabilities.

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