Jetson deployment

This is the orchestration page. It assumes the hardware is built (build) and walks through everything software between "Jetson boots into Ubuntu" and "Haller bringup + HMI come up on every power-on, on its own Wi-Fi network."

You can also use this page as a checklist for re-imaging — every step is idempotent.

What the deployment does

Three systemd services boot in sequence on the Jetson:

Once installed, all three start at boot — power on the robot, wait ~30 s, connect to HallerRobot, open http://10.42.0.1:3000, you're operating the robot.

Prerequisites

• Jetson Orin Nano (8 GB) flashed with JetPack 6 (Ubuntu 22.04 base, JetPack 6 ships ROS 2 Jazzy-compatible userspace).
• User account orin (the unit files hard-code this — change them if your username differs).
• Internet access for the initial clone + dependency install. After install, the AP fallback lets you work without infrastructure Wi-Fi.
• All the physical USB devices plugged in: CANable2 adapter, RPLIDAR A1M8, both SO-101 bus adapters, any USB cameras.

1. Clone the repo

sudo apt update
sudo apt install -y git git-lfs

git clone --recurse-submodules https://github.com/oscardvs/haller_ws.git ~/haller_ws
cd ~/haller_ws

The --recurse-submodules is important — src/sllidar_ros2/ is a git submodule (Slamtec's driver). If you forget, git submodule update --init --recursive fixes it.

2. Build the ROS 2 stack

Follow Mobile base / Prerequisites for the ROS 2 Jazzy + Nav2 + slam_toolbox apt installs and rosdep install, then:

cd ~/haller_ws
colcon build --symlink-install

3. Set up the arm software environment

Per LeRobot environment, create the HMI venv at ~/venvs/haller-hmi/ (the path the HMI service expects). Skip this if the robot only carries the base.

4. Run scripts/install.sh

The provisioning script does four things, all idempotent:

cd ~/haller_ws
sudo ./scripts/install.sh

What it does:

1. Installs udev rules (scripts/99-haller-devices.rules → /etc/udev/rules.d/, reloads + triggers). This creates stable /dev/haller_* symlinks: haller_can, haller_lidar, haller_arm_follower, haller_arm_leader.
2. Enables haller-ap.service so the Wi-Fi AP comes up at boot.
3. Enables haller-robot.service so the ROS bringup launches at boot.
4. Adds orin to the dialout group for serial-port access.

It does not start the services — that happens at next boot, or you start them manually (step 6).

It does not install the HMI service. The HMI service is currently a manual step (see step 5), partly because it depends on the venv from step 3, which install.sh doesn't manage.

5. Install the HMI service

The HMI runs alongside the robot bringup. The unit file is scripts/haller-hmi.service; its ExecStart is scripts/run_hmi.sh, which launches both uvicorn (:8000) and the prebuilt Next.js server (:3000).

First, build the frontend standalone bundle:

cd ~/haller_ws/hmi/frontend
pnpm install
pnpm build

Then install + enable the unit:

sudo cp ~/haller_ws/scripts/haller-hmi.service /etc/systemd/system/
sudo systemctl daemon-reload
sudo systemctl enable --now haller-hmi.service

See HMI overview / Production for what run_hmi.sh does at startup (copies .next/static and public/ into the standalone tree before launching).

6. Start everything (without rebooting)

After install.sh + the HMI install, services are enabled but not running yet. Start them in order:

sudo systemctl start haller-ap.service
sudo systemctl start haller-robot.service
sudo systemctl start haller-hmi.service

Or just reboot — systemd brings them up in the right order on its own.

sudo reboot

7. Verify

After reboot, from your laptop:

1. Wi-Fi. Connect to HallerRobot with password haller2024. Your laptop should get a 10.42.0.x lease from the Jetson.
2. HMI. Browse to http://10.42.0.1:3000. The "live" badge should turn green within a few seconds; the base panel and arm card should populate.
3. ROS stack. SSH to orin@10.42.0.1, then ros2 topic list — you should see /cmd_vel, /odom, /scan, /tf, /joint_states.
4. Services. All three units should be active (running):

   systemctl status haller-ap haller-robot haller-hmi

If any of those four fail, the Troubleshooting section below walks through what to check.

Updating the deployment

After pulling new code or editing config:

cd ~/haller_ws
git pull
colcon build --symlink-install                # if ROS code changed
(cd hmi/frontend && pnpm install && pnpm build)  # if frontend changed
sudo systemctl restart haller-robot haller-hmi

For unit-file edits, re-run sudo ./scripts/install.sh (or sudo cp the file directly), then sudo systemctl daemon-reload before restarting.

Disabling autostart

For benchwork or development on the Jetson where you want full manual control:

sudo systemctl disable --now haller-ap haller-robot haller-hmi

Re-enable when you're done:

sudo systemctl enable --now haller-ap haller-robot haller-hmi

Troubleshooting

• systemctl status haller-robot → "Could not open port" or "device not found". A required USB device isn't enumerated. ls -l /dev/haller_can /dev/haller_lidar /dev/haller_arm_* — any missing symlink points to an unplugged device or missing udev rule. Re-run sudo ./scripts/install.sh to (re)install the rules.
• haller-ap.service fails on the nmcli line. The WIFI_DEV in scripts/setup_ap.sh is hard-coded to wlP1p1s0 — the Orin Nano dev kit's default. On other hardware run nmcli device and edit that constant. See Wi-Fi AP fallback.
• HMI service immediately exits. Tail the journal: journalctl -u haller-hmi.service -e. The two most common causes are (a) ~/venvs/haller-hmi/ doesn't exist (run the LeRobot environment install), or (b) hmi/frontend/.next/standalone/server.js doesn't exist (run pnpm build in hmi/frontend).
• HMI loads but /health returns 503. ROS bringup hasn't finished yet, or it failed. systemctl status haller-robot.service will tell you. Topics need to be present for the HMI base panel to function.
• Connected to HallerRobot but can't reach 10.42.0.1:3000. Confirm the AP came up: nmcli con show --active on the Jetson should list HallerAP. Confirm the HMI is bound to 0.0.0.0 (not 127.0.0.1): ss -tlnp | grep 3000.

Related pages

• Mobile base (ROS 2) — what haller-robot.service actually launches.
• HMI overview — what haller-hmi.service actually launches.
• Wi-Fi AP fallback — the standalone story for the AP.
• LeRobot environment — the venv the HMI service expects.
• SO-101 arms — udev rules + dialout setup overlap with this page.
• Troubleshooting — cross-cutting symptom-indexed reference for when something here breaks.