Limit X — Software Stack Deployment

Server deployment 🖥️ host x86-64

The host (Server2, 192.168.0.83) runs two containers — the docs site and the dashboard. Nothing else: no database, no optional extras.

Before you start

1. Two machines on the same L2 network — the host and the robot (Jetson AGX Thor). No internet needed at runtime.
2. Docker Engine installed and sudo-free for the deploy user on both machines.
3. Images on the host: limit-docs:1.0, limit-dash:1.0 (both x86-64); limit-robot:1.0 (aarch64) on the Jetson.
4. Ports free on the host: 3000 (docs), 3002 (dash), 9000/udp (telemetry in from the robot).

Air-gapped image transfer

# 1. on the machine that BUILT the image
docker save limit-dash:1.0 -o limit-dash.tar
# 2. copy limit-dash.tar to the target (USB stick, sftp, whatever)
# 3. on the TARGET machine
docker load -i limit-dash.tar
docker images | grep limit-dash   # confirm tag + arch before you run

Docs site (port 3000)

docker run -d \
  --name limit-docs \
  -p 3000:80 \
  limit-docs:1.0

• Static site — the nginx container is the whole thing. No database, no backend.
• Pages: index, robot, robot_model, drive, and deploy — this one.

Limit Dash (port 3002)

docker run -d \
  --name limit-dash \
  -p 3002:80 \
  -p 9000:9000/udp \
  limit-dash:1.0

• One container, two parts: nginx serves the UI on :80 (published as 3002) and the C++ relay ingests UDP JSON on :9000, feeding the UI over local SSE on :8000 with buffering off.
• Relay endpoints: GET /api/snapshot, GET /api/stream (SSE), GET /api/health.
• 27 telemetry panels (T01–T27), 4 status LEDs, and a SIM toggle for no-robot testing.

Verify

1. curl http://192.168.0.83:3002/ — dashboard HTML.
2. curl http://192.168.0.83:3002/api/health — relay reports alive.
3. Open http://192.168.0.83:3002 — panels are grey/stale until the robot starts; flip SIM and they light up with synthetic data, proving the pipeline.

Day-to-day

Robot deployment 🤖 robot aarch64

One container on the Jetson, all ROS 2 Jazzy. It sees the USB cameras, drives the joints, and streams the /limitx/* telemetry to the host over UDP 9000.

What's in the box

The contract

• Publishes: /limitx/imu, /limitx/gnss, /limitx/joints, /limitx/gait, /limitx/cam_left, /limitx/cam_right, /limitx/odometry, /limitx/status.
• Subscribes: /limitx/cmd — gait select, speed, turn, stop.
• Camera rule: frame > 36,864 bytes → downscale to ≤ 320×240, JPEG quality 60, codec=1; otherwise send RGB24 as-is, codec=2. The gateway base64-encodes binary payloads into the same UDP datagram — no second port.

Deploy

# on the Jetson, as the limit user
docker run -d \
  --name limit-robot \
  --network host \
  --device /dev/video0 \
  --device /dev/video1 \
  -v /home/limit/limit-robot/config:/app/config \
  limit-robot:1.0

• --network host is required — the joint bus and the UDP egress both want the machine's own interfaces.
• /dev/video* are the ZED 2i UVC streams; the container grabs them as-is.
• Config lives at /home/limit/limit-robot/config; the key file is gateway.yaml:

relay_host: 192.168.0.83
relay_port: 9000

Verify

docker logs -f limit-robot
ros2 topic hz /limitx/joints
ros2 topic echo /limitx/status

Then on the dashboard: panels T01–T27 light up and the 4 status LEDs reflect the real sensor state — the whole loop working, no sim involved.

Day-to-day