Limo Fleet Agent

One-command installer for adding an AgileX Limo Pro to the Howest AI Lab ROS 2 domain and Fleet Media dashboard.

It installs native systemd services for:

• Limo base telemetry on ROS domain 42
• Orbbec RGB and colorized depth previews
• USB microphone sampling and gain control
• NVIDIA HDA HDMI-stereo playback on the connected display
• ROS-owned microphone and speaker mute controls
• Fleet health and media manifest API on port 3973

Install

Run this on the Limo as its normal SSH user:

curl -fsSL https://raw.githubusercontent.com/HowestAILab/limo-fleet-agent/v0.1.0/install.sh | sudo bash

Give every robot a stable unique ID when enrolling multiple Limos:

curl -fsSL https://raw.githubusercontent.com/HowestAILab/limo-fleet-agent/v0.1.0/install.sh | sudo env LIMO_ROBOT_ID=limo-pro-02 LIMO_ROBOT_NAME='Limo Pro 02' bash

The installer detects the first 10.x address, Linux user, primary group and PulseAudio runtime UID. Override values when necessary:

curl -fsSL https://raw.githubusercontent.com/HowestAILab/limo-fleet-agent/v0.1.0/install.sh | sudo env \
  LIMO_ROBOT_ID=limo-pro-02 \
  LIMO_ROBOT_IP=10.32.1.125 \
  LIMO_ROS_DOMAIN_ID=42 \
  LIMO_ROS_PEERS=10.30.60.9,10.32.1.124 \
  bash

Optional variables:

Variable	Default
LIMO_FLEET_USER	invoking sudo user, otherwise agilex
LIMO_ROS_WORKSPACE	/home/<user>/limo_ros2_ws
LIMO_ROS_DISTRO	foxy
LIMO_ROS_DOMAIN_ID	42
LIMO_FLEET_API_TOKEN	empty
LIMO_INSTALL_DEPS	1

Requirements

• Ubuntu/JetPack with systemd
• ROS 2 and a built limo_ros2_ws
• limo_base for base telemetry
• orbbec_camera for managed RGB/depth streams
• PulseAudio and NVIDIA HDA HDMI-stereo for display audio

The installer is idempotent. Re-running the same tagged version refreshes the files and restarts only the managed services.

Verify

systemctl is-active limo-fleet-agent limo-audio-control
curl http://127.0.0.1:3973/api/fleet/v1/manifest
curl http://127.0.0.1:3975/health

Fleet Control should discover the robot after its inventory entry points to http://<limo-ip>:3973/api/fleet/v1.