diff --git a/content/posts/installing-tailscale-robot-vacuum/2x_battery_screws.jpg b/content/posts/installing-tailscale-robot-vacuum/2x_battery_screws.jpg new file mode 100644 index 0000000..3c12d6f Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/2x_battery_screws.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/2x_motor_screws.jpg b/content/posts/installing-tailscale-robot-vacuum/2x_motor_screws.jpg new file mode 100644 index 0000000..f339eda Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/2x_motor_screws.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/3x_side_motor_screws.jpg b/content/posts/installing-tailscale-robot-vacuum/3x_side_motor_screws.jpg new file mode 100644 index 0000000..3b55255 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/3x_side_motor_screws.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/4x_short_screws.jpg b/content/posts/installing-tailscale-robot-vacuum/4x_short_screws.jpg new file mode 100644 index 0000000..07154c8 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/4x_short_screws.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/6x_bottom_screws.jpg b/content/posts/installing-tailscale-robot-vacuum/6x_bottom_screws.jpg new file mode 100644 index 0000000..0df8274 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/6x_bottom_screws.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/6x_mainboard_screws.jpg b/content/posts/installing-tailscale-robot-vacuum/6x_mainboard_screws.jpg new file mode 100644 index 0000000..a61f52d Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/6x_mainboard_screws.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/8x_bumper_screws.jpg b/content/posts/installing-tailscale-robot-vacuum/8x_bumper_screws.jpg new file mode 100644 index 0000000..85ea2b2 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/8x_bumper_screws.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/8x_mainboard_connectors.jpg b/content/posts/installing-tailscale-robot-vacuum/8x_mainboard_connectors.jpg new file mode 100644 index 0000000..5df0b7b Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/8x_mainboard_connectors.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/8x_recessed_screws.jpg b/content/posts/installing-tailscale-robot-vacuum/8x_recessed_screws.jpg new file mode 100644 index 0000000..6eda79e Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/8x_recessed_screws.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/bottom_cover_removed.jpg b/content/posts/installing-tailscale-robot-vacuum/bottom_cover_removed.jpg new file mode 100644 index 0000000..e214bde Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/bottom_cover_removed.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/hidden_screw.jpg b/content/posts/installing-tailscale-robot-vacuum/hidden_screw.jpg new file mode 100644 index 0000000..997142b Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/hidden_screw.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/index.md b/content/posts/installing-tailscale-robot-vacuum/index.md index b42027b..7f5425e 100644 --- a/content/posts/installing-tailscale-robot-vacuum/index.md +++ b/content/posts/installing-tailscale-robot-vacuum/index.md @@ -50,9 +50,45 @@ And I uploaded the resulting `id_rsa-robot.pub` to the Dustbuilder interface. I also made sure to select the `Create FEL image (for initial rooting via USB)` option. Otherwise I left the other options alone, entered a Cloaked email address, and clicked the **Create job** button to kick things off. ### Robot surgery -While my firmware was in the oven I went ahead and began the disassembly process. I started by watching [a disassembly video](https://www.youtube.com/watch?v=68flJFSOK8A) but quickly realized that my S5 Max apparently differs from the one being taken apart: after carefully prying off the top cover I found that my robot doesn't have a set of screws surrounding the spinning laser assembly. The inner top cover is a single, solid piece of plastic. So I ditched the video and forged my own path. +While my firmware was in the oven I went ahead and began the disassembly process. I started by watching [a disassembly video](https://www.youtube.com/watch?v=68flJFSOK8A) but quickly realized that my S5 Max apparently differs from the one being taken apart: after carefully prying off the top cover I found that my robot doesn't have a set of screws surrounding the spinning laser assembly. The inner top cover is a single, solid piece of plastic rather than having a separate cover for the laser. -MORE DISASSEMBLY DETAILS HERE +![The top cover of the robot is a single piece of plastic, without a separate removable piece over the laser sensor.](robot_top.jpg) + +So I ditched the video and forged my own path: + +1. Remove the dustbin and water basin. +2. Turn robot upside-down. +3. Remove main roller assembly. +4. Unscrew side brush. + ![The single screw holding the side brush is circled in red.](side_brush.jpg) +5. Unscrew 6 large screws and remove the bottom cover, exposing the battery. + ![Six large screws circled in red.](6x_bottom_screws.jpg) +6. Unscrew 8 small screws securing the two-piece bumper to the edge of the robot and remove the bumper. + ![Eight small screws hold the bumper assembly.](8x_bumper_screws.jpg) +7. Disconnect and remove battery. +8. Unscrew 3 small screws holding the side brush motor and remove the motor (my pictures got out of order so I don't actually show the motor removal until much later... please just pretend that I removed it like I said I did). + ![Three screws hold the side motor assembly.](3x_side_motor_screws.jpg) +9. There are several groups of screws to extract so you can separate the top and bottom halves of the robot: + 1. 2 screws in the battery compartment. + ![Two screws in the bottom of the battery compartment.](2x_battery_screws.jpg) + 2. 4 short screws near the rear of the robot, where the water basin attaches. + ![Four short screws near the rear of the robot.](4x_short_screws.jpg) + 3. 1 screw next to one of the main wheel motors. + 4. 1 recessed screw next to the other motor. + ![Two screws next to the wheel motors.](2x_motor_screws.jpg) + 5. And 8 recessed screws along the robot edges, including one which was covered by the side brush motor. + ![Eight recessed screws along the edges of the robot.](8x_recessed_screws.jpg) + ![A screw which was covered by the side brush assembly.](hidden_screw.jpg) +10. Now lift the entire bottom shell to separate it from the top, and flip it over to expose the electronic goodies. + ![Exposed robot mainboard and other electronics.](top_cover_removed.jpg) +11. Carefully remove the 8 connectors along the front edges of the mainboard; the ones along the rear can stay connected. + ![Eight electrical connectors along the edges of the mainboard.](8x_mainboard_connectors.jpg) +12. Remove 6 screws from the mainboard. + ![Six screws securing the mainboard.](6x_mainboard_screws.jpg) +13. Carefully lift the mainboard into a vertical position. + ![The mainboard lifted perpendicular to the robot body.](mainboard_up.jpg) + +That's it! Just 40 screws to be able to access the bottom side of the mainboard, and I was finally ready to launch the attack. ### Launching the hack I checked my email and found that I had indeed received notification of a successful Dustbuilder build so I downloaded those files: @@ -72,13 +108,23 @@ sudo apt update # [tl! .cmd:1] sudo apt install sunxi-tools ``` -I used a micro-USB cable to connect the mainboard's debugging port to my Chromebook (running then [Linux development environment](https://www.chromium.org/chromium-os/developer-library/guides/containers/containers-and-vms/)). (I wasn't entirely sure that the Chromebook would work for this as it can be somewhat picky about [supporting USB devices](https://www.chromium.org/chromium-os/developer-library/guides/containers/containers-and-vms/#can-i-access-hardware-eg-usbbluetoothserial) so also had another Linux laptop standing by just in case.) And I then connected the robot's battery to the mainboard (but without powering on the robot). +I used a micro-USB cable to connect the mainboard's debugging port to my laptop. -Next came the only truly tricky part of this whole process: shorting the `TPA17` test point on the bottom side of the mainboard to ground, while *also* pressing and holding the power button on the *top* side of the board. +![The robot's micro-USB port on the top side of the mainboard.](mainboard_usb.jpg) + +![A disassembled robotic vacuum cleaner lying on a desk. There is a laptop computer also on the desk, with code visible on the screen. Several cables and a screwdriver are also visible on the desk. The screen shows code related to the robot vacuum.](laptop_connected.jpg) + +And I then connected the robot's battery to the mainboard (but without powering on the robot). + +Next came the only truly tricky part of this whole process: shorting the `TPA17` test point on the bottom side of the mainboard to ground, while *also* pressing and holding the power button on the *top* side of the board (it's the button labeled `KEYI3`). + +![TPA17 on the bottom of the robot mainboard.](mainboard_tpa17.jpg) + +![The robot's power button labeled "KEYI3".](mainboard_power.jpg) I used my fingernail to gently scrape the coating off the pad to make good contact, and settled on using a bent paperclip for the shunt. I was able to hook one end of the clip through one of the (grounded) screw holes and then only have to worry about precisely placing the other end on `TPA17`, which freed up my other hand for mashing the button. -The prescription is to short `TPA17`, press-and-hold the power button for three seconds, and keep `TPA17` shorted to ground for five more seconds after that. +The technique is to short `TPA17`, press-and-hold the power button for three seconds, and keep `TPA17` shorted to ground for five more seconds after that. I did that, the status LEDs on the robot came alive, and I went to my terminal to check the status with `lsusb` to see if the `Allwinner Technology sunxi SoC OTG connector in FEL/flashing mode` showed up. @@ -91,7 +137,7 @@ I did that, the status LEDs on the robot came alive, and I went to my terminal t After half an hour of repeating the same steps and hoping for different results, I had the bright idea to try a different micro-USB cable. -Unfortunately, that didn't change things. So I kept repeating the same steps some more and hoping for different results. Eventually, I tried *another* micro-USB cable, and that seemed to do the trick! +Unfortunately, that didn't change things. So I kept repeating the same steps some more and hoping for different results. Eventually, I tried *another* micro-USB cable, and that seemed to do the trick! ChromeOS prompted me to connect the device to the Linux environment, and `lsusb` then returned the desired result: ```shell lsusb # [tl! .cmd] @@ -104,5 +150,219 @@ I don't have many micro-USB cables left in my house at this point, and most of t I had to go digging through my cable drawer to find a quality braided cable (that I knew supported data transfer). If I had just started with a decent cable from the start I could have saved a lot of time and trouble. {{% /notice %}} +Once I knew that my Chromebook would actually be able to communicate with the robot, I extracted the contents of the `roborock.vacuum.s5e_1668_fel.zip` archive: +```shell +unzip -d fel roborock.vacuum.s5e_1668_fel.zip # [tl! .cmd:2] +cd fel +ls -l +.rw-r--r-- 184 john 9 Aug 19:02 activation.lic # [tl! .nocopy:10] +.rwxr-xr-x 66k john 1 Jul 2023 dtb.bin +.rw-r--r-- 33k john 1 Jul 2023 dtb_stripped.bin +.rw-r--r-- 31k john 1 Jul 2023 felnand.config +.rwxr-xr-x 14k john 1 Jul 2023 fsbl.bin +.rwxr-xr-x 240 john 1 Jul 2023 run.bat +.rwxr-xr-x 281 john 1 Jul 2023 run.sh +.rwxr-xr-x 2.0M john 1 Jul 2023 sunxi-fel.exe +.rw-r--r-- 852k john 1 Jul 2023 ub.bin +.rwxr-xr-x 852k john 1 Jul 2023 ub_full.bin +.rw-r--r-- 3.9M john 9 Aug 19:02 uImage +``` +And then executed `run.sh` as root: + +```shell +sudo su # [tl! .cmd] +./run.sh # [tl! .cmd_root] +waiting for 3 seconds # [tl! .nocopy:4] +100% [================================================] 852 kB, 152.2 kB/s +100% [================================================] 66 kB, 162.1 kB/s +100% [================================================] 0 kB, 93.2 kB/s +100% [================================================] 3647 kB, 153.6 kB/s +``` + +After a minute or two the robot rebooted and began broadcasting its own Wi-Fi AP. I connected to that, and then used my RSA key to log in via SSH: + +```shell +ssh -i ~/.ssh/id_rsa-robot root@192.168.8.1 # [tl! .cmd] +[root@rockrobo ~]# # [tl! .nocopy] +``` + +At this point, the robot was temporarily running on a rooted live image with [busybox](https://busybox.net/about.html) to provide a lot of shell functionality; I still needed to install the patched firmware to maintain control though. + +I backed up the `nandb` and `nandk` flash partitions, which apparently contain unique calibration and identity data that can't be recovered if I break something: + +```shell +dd if=/dev/nandb | gzip > /tmp/nandb.img.gz # [tl! .cmd_root:1] +dd if=/dev/nandk | gzip > /tmp/nandk.img.gz +``` + +I spawned another shell from my laptop to retrieve those important files: + +```shell +scp -O -i ~/.ssh/id_rsa-robot root@192.168.8.1:/tmp/nand* . # [tl! .cmd] +``` + +Back on the robot's shell, I deleted some logs to make sure I'd have enough space to load the new firmware image: + +```shell +rm -rf /mnt/data/rockrobo/rrlog/* # [tl! .cmd_root] +``` + +And used the laptop's shell to transfer over the firmware image: + +```shell +scp -O -i ~/.ssh/id_rsa-robot roborock.vacuum.s5e_1668_fw.tar.gz root@192.168.8.1:/mnt/data/ # [tl! .cmd] +``` + +I switched back to the robot session, extracted the firmware package, ran the installer, and rebooted the robot once it was complete: + +```shell +cd /mnt/data/ # [tl! .cmd_root:2] +tar xvzf roborock.vacuum.s5e_1668_fw.tar.gz +./install.sh + +reboot # [tl! .cmd_root] +``` + +After the reboot, I reconnected to the robot's AP, logged back in to SSH, and ran the install again, followed by another reboot: + +```shell +cd /mnt/data/ # [tl! .cmd_root:1] +./install.sh + +reboot # [tl! .cmd_root] +``` + +I reconnected to the robot's AP once again, and transferred the Valetudo binary to the robot: + +```shell +scp -O -i ~/.ssh/id_rsa-robot valetudo-armv7-lowmem.upx root@192.168.8.1:/mnt/data/valetudo # [tl! .cmd] +``` + +And then I logged back into the robot via SSH, cleaned up some of the installation files, configured Valetudo to automatically start at boot, and rebooted once again: + +```shell +ssh -i ~/.ssh/id_rsa-robot root@192.168.8.1 # [tl! .cmd] +cd /mnt/data # [tl! .cmd_root:3] +rm roborock.vacuum.*.gz boot.img firmware.md5sum rootfs.img install.sh +cp /root/_root.sh.tpl /mnt/reserve/_root.sh +chmod +x /mnt/reserve/_root.sh /mnt/data/valetudo + +reboot # [tl! .cmd_root] +``` + +I connected to the robot's AP for the last time, and pointed my web browser to `http://192.168.8.1/` to start the Valetudo setup process. + +![Valetudo web app prompting the user to scan for and connect to the home Wi-Fi network.](valetudo-wifi.png) + +After the robot successfully connected to my Wi-Fi network, I was able to use the [Valetudo Companion Android app](https://f-droid.org/packages/cloud.valetudo.companion/) to easily find the robot on my network. I could then connect to its web interface at `http://192.168.1.172/` and see the fruits of my labor: + +![The Valetudo web interface showing a map of my house as well as some information about the robot.](valetudo_map.jpg) + +The hack was a success! + +### Tailscale time +Needing to find the robot's IP before I can interact with it is kind of lame. I'd rather leverage Tailscale's [MagicDNS](https://tailscale.com/kb/1081/magicdns) so that I can connect to the robot without knowing its IP (or even being on the same network). + +That Tailscale blog post I mentioned earlier offered some [notes on installing Tailscale on a robot vacuum](https://tailscale.dev/blog/tailscale-sucks#:~:text=Getting%20Tailscale%20on%20the%20robot), which I used as a guide for my efforts. + +There's plenty (~260MB) of free space on the robot's `/mnt/data/` persistent partition so I logged back in via SSH and did all the work there, starting with downloading the appropriate ARM package from [Tailscale's package server](https://pkgs.tailscale.com/stable/#static) + +```shell +ssh -i ~/.ssh/id_rsa-robot root@192.168.1.169 # [tl! .cmd] +cd /mnt/data # [tl! .cmd_root:1] +wget --no-check-certificate https://pkgs.tailscale.com/stable/tailscale_1.72.1_arm.tgz +``` + +Then I extracted the binaries, moved them to an appropriate location, and cleaned up the downloaded package: + +```shell +tar xvf tailscale_1.72.1_arm.tgz # [tl! .cmd_root:1] +mv tailscale_1.72.1_arm/tailscale \ + tailscale_1.72.1_arm/tailscaled \ + /mnt/data/ +rm -rf tailscale_1.72.1_arm* # [tl! .cmd_root] +``` + +Remember that `/mnt/reserve/_root.sh` script that I copied earlier so that Valetudo would run at boot? I can hijack that to launch Tailscale as well. + +Here's the original script: + +```shell +# torchlight! {"lineNumbers":true} +#!/bin/bash +if [[ -f /mnt/data/valetudo ]]; then + mkdir -p /mnt/data/miio/ + + if grep -q -e "cfg_by=tuya" -e "cfg_by=rriot" /mnt/data/miio/wifi.conf; then + sed -i "s/cfg_by=tuya/cfg_by=miot/g" /mnt/data/miio/wifi.conf + sed -i "s/cfg_by=rriot/cfg_by=miot/g" /mnt/data/miio/wifi.conf + echo region=de >> /mnt/data/miio/wifi.conf + echo 0 > /mnt/data/miio/device.uid + echo "de" > /mnt/data/miio/device.country + fi + + # Delete useless cleanup logs on each boot to enable Valetudo to update itself + rm -r /mnt/data/rockrobo/rrlog/*REL + + VALETUDO_CONFIG_PATH=/mnt/data/valetudo_config.json /mnt/data/valetudo >> /dev/null 2>&1 & + +fi + +### It is strongly recommended that you put your changes inside the IF-statement above. In case your changes cause a problem, a factory reset will clean the data partition and disable your chances. +### Keep in mind that your robot model does not have a recovery partition. A bad script can brick your device! +``` + +See that note at the bottom? Sounds like a good idea, so I'll put my Tailscale code inside the existing `if` statement: + +```shell +# torchlight! {"lineNumbers":true} +#!/bin/bash +if [[ -f /mnt/data/valetudo ]]; then + mkdir -p /mnt/data/miio/ + + if grep -q -e "cfg_by=tuya" -e "cfg_by=rriot" /mnt/data/miio/wifi.conf; then + sed -i "s/cfg_by=tuya/cfg_by=miot/g" /mnt/data/miio/wifi.conf + sed -i "s/cfg_by=rriot/cfg_by=miot/g" /mnt/data/miio/wifi.conf + echo region=de >> /mnt/data/miio/wifi.conf + echo 0 > /mnt/data/miio/device.uid + echo "de" > /mnt/data/miio/device.country + fi + + # Delete useless cleanup logs on each boot to enable Valetudo to update itself + rm -r /mnt/data/rockrobo/rrlog/*REL + + VALETUDO_CONFIG_PATH=/mnt/data/valetudo_config.json /mnt/data/valetudo >> /dev/null 2>&1 & + + # tailscale # [tl! **:7 ++:7] + if [[ -f /mnt/data/tailscaled ]]; then + mkdir -p /mnt/data/tailscale-state /tmp/tailscale + STATE_DIRECTORY=/tmp/tailscale /mnt/data/tailscaled \ + --tun=userspace-networking \ + --socket=/tmp/tailscale/tailscaled.sock \ + --statedir=/mnt/data/tailscale-state > /dev/null 2>&1 & + fi + +fi +``` + +I rebooted the robot, then reconnected and logged in to Tailscale, also setting a custom hostname and enabling [Tailscale SSH](/tailscale-ssh-serve-funnel/#tailscale-ssh) along the way: + +```shell +/mnt/data/tailscale --socket=/tmp/tailscale/tailscaled.sock \ + up --ssh --hostname=derpmop # [tl! .cmd_root:-1,1] +``` + +Now I won't have to keep up with the robot's IP address anymore; I can just point a browser to `http://derpmop.tailnet-name.ts.net/`. I can also SSH in without having to specify a key since Tailscale is handling the authentication for me: + +```shell +ssh root@derpmop # [tl! .cmd] +``` + +### Home Assistant integration + +- Set up [Mosquito MQTT Broker](https://www.home-assistant.io/integrations/mqtt/#setting-up-a-broker) for Home Assistant. +- Connect Valetudo following [these instructions](https://valetudo.cloud/pages/integrations/home-assistant-integration.html). +- Render map status in HA with [MQTT Vacuum's Camera Add-On](https://github.com/sca075/mqtt_vacuum_camera). +- Make a pretty dashboard card with [Lovelace Vacuum Map Card](https://github.com/PiotrMachowski/lovelace-xiaomi-vacuum-map-card). \ No newline at end of file diff --git a/content/posts/installing-tailscale-robot-vacuum/laptop_connected.jpg b/content/posts/installing-tailscale-robot-vacuum/laptop_connected.jpg new file mode 100644 index 0000000..2ba6127 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/laptop_connected.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/mainboard_power.jpg b/content/posts/installing-tailscale-robot-vacuum/mainboard_power.jpg new file mode 100644 index 0000000..5d348f7 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/mainboard_power.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/mainboard_tpa17.jpg b/content/posts/installing-tailscale-robot-vacuum/mainboard_tpa17.jpg new file mode 100644 index 0000000..1134798 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/mainboard_tpa17.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/mainboard_up.jpg b/content/posts/installing-tailscale-robot-vacuum/mainboard_up.jpg new file mode 100644 index 0000000..9201425 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/mainboard_up.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/mainboard_usb.jpg b/content/posts/installing-tailscale-robot-vacuum/mainboard_usb.jpg new file mode 100644 index 0000000..b493a5b Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/mainboard_usb.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/robot_top.jpg b/content/posts/installing-tailscale-robot-vacuum/robot_top.jpg new file mode 100644 index 0000000..fc8b6d9 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/robot_top.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/side_brush.jpg b/content/posts/installing-tailscale-robot-vacuum/side_brush.jpg new file mode 100644 index 0000000..6d7e34e Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/side_brush.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/top_cover_removed.jpg b/content/posts/installing-tailscale-robot-vacuum/top_cover_removed.jpg new file mode 100644 index 0000000..34126ca Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/top_cover_removed.jpg differ diff --git a/content/posts/installing-tailscale-robot-vacuum/valetudo-wifi.png b/content/posts/installing-tailscale-robot-vacuum/valetudo-wifi.png new file mode 100644 index 0000000..c67ca98 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/valetudo-wifi.png differ diff --git a/content/posts/installing-tailscale-robot-vacuum/valetudo_map.jpg b/content/posts/installing-tailscale-robot-vacuum/valetudo_map.jpg new file mode 100644 index 0000000..5a2d2c2 Binary files /dev/null and b/content/posts/installing-tailscale-robot-vacuum/valetudo_map.jpg differ