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I'm trying to run Firefox in kiosk mode.

nano /home/pi/.config/lxsession/autostart

@firefox-esr (@iceweasel) 

Here, how to point the browser to a webpage?

Example - for Chromium we use this- @chromium-browser --kiosk http://google.com/

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firefox --help seems to give this option:

  --kiosk Start the browser in kiosk mode.

I have tried with

firefox --kiosk https://www.ghacks.net/2019/10/07/firefox-71-new-kiosk-mode-for-the-browser/, alas, this is only from version 71 up, that will take some time to land in ESR/IceWeasel.

So, unfortunately, there doesn't seem to be an easy way to do that, currently.

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