Networking

Connect to Orin AGX

Most of the connections to the orin are done through SSH. The current orin may also be connected in zerotier or tailscale vpns, allowing for remote access to the orin.

In addition, VNC can also be used to control the display of the Orin remotely. This is useful for debugging and testing purposes. Currently, the VNC server is running on the Orin automatically after booting.

Connect to VNC

You can use any VNC client to connect to the Orin. Remmina, which is installed on some Ubuntu versions by default, can also be used. You only need to specify the IP address of the Orin and select the 'VNC' plugin.

Note: for security reasons, the VNC server can be modified to only work on the local network. If the service is running only locally, you need to forward the port using ssh and then connect to the local port. The command to do this is:

ssh -L 5900:localhost:5900 -C -N -l <orin> <orin_ip>

Then, you can connect to localhost:5900 using your VNC client.

Debug VNC

If the service isn't running you may try the following commands:

sudo systemctl status x11vnc
journalctl -u x11vnc.service

sudo systemctl start x11vnc
sudo systemctl stop x11vnc

sudo systemctl enable x11vnc
sudo systemctl disable x11vnc

Setup VNC server

Install x11vnc

sudo apt install x11vnc

Set up password

x11vnc -storepasswd your_password ~/.vnc/passwd

Create a service file

sudo nano /etc/systemd/system/x11vnc.service

Add the following content to the file:

[Unit]
Description=Start x11vnc on boot for Jetson GUI (user orin)
After=graphical.target
Requires=display-manager.service
StartLimitBurst=10

[Service]
Type=simple
ExecStart=/usr/bin/x11vnc \
  -display :0 \
  -auth /home/orin/.Xauthority \
  -rfbauth /home/orin/.vnc/passwd \
  -forever -loop -noxdamage -repeat -shared
User=orin
Group=orin
Environment=DISPLAY=:0
Environment=XAUTHORITY=/home/orin/.Xauthority

Restart=always
RestartSec=15

[Install]
WantedBy=graphical.target

Then, reload the systemd daemon and enable the service:

sudo systemctl daemon-reload
sudo systemctl enable x11vnc

Then, start the service:

sudo systemctl start x11vnc

If you want to run the service only on localhost (and forward the port using ssh), you can replace the ExecStart command in the service file:

ExecStart=/usr/bin/x11vnc \
  -display :0 \
  -auth /home/orin/.Xauthority \
  -rfbauth /home/orin/.vnc/passwd \
  -forever -loop -noxdamage -repeat -shared \
  -localhost