Network Configuration

Default IPs of major internal devices:

Device	IP Address
Perception Host	192.168.1.103
Motion Host	192.168.1.120
LiDAR	192.168.1.201

Perception host username: ysc, password: ' (single quote).

Remote Login

If you have configured HDMI connection before using the remote desktop, you must first restore the tty3 auto-start configuration and reboot the robot, otherwise the remote desktop will not work.

Connection

Users can remotely log in to the Jueying Lite3 perception host desktop via NoMachine software. Method:

1. First connect the development host to the robot WiFi;
2. Then open NoMachine on the development host, click “New” / “Add” to create a new connection:
   • Select “NX” for “Protocol”
   • Enter 192.168.1.103 for “Host”
   • Select “Use password authentication” for “Authentication”
   • Do not check “Use custom proxy configuration for this session” for “Proxy”
   • Keep other options as default
3. A new remote icon will appear on the page, as shown below;

4. Click the icon, enter username ysc and password ' (single quote) to connect remotely.

When operating after connection, if you encounter a lock screen or a terminal command asks for a password, the password is ' (single quote).

Troubleshooting

1. If password ' shows as incorrect, try pressing Shift once to switch to English input method, then enter '.
2. If the remote desktop shows white screen after connection, click “Settings” in the upper right corner of NoMachine, then select “Server Preferences” in the lower left, then “Updates” in the upper right, and click “Check now” to update. After updating, try connecting again. If “session negotiation failed” appears after entering the password, you need to SSH into the perception host locally to fix it:

ssh ysc@192.168.1.103           # Password is single quote
sudo su
cd /usr/NX/var/db/limits/
ls                              # List files in limits directory
rm xxxxx xxxxxx xxxxxx          # rm is delete command, xxxxxx are filenames in the directory

If the above operations still show “session negotiation failed”, repeat the above steps and use sudo reboot to reboot the perception host.

Connecting to Perception Host via HDMI

Jueying Lite3 Professional/LiDAR Edition supports connecting to the perception host desktop via the rear HDMI port. The perception host enters tty3 terminal by default on boot. To automatically enter the graphical interface on boot, configuration is required.

Setting Up Graphical Interface Auto-Start

1. Connect the perception host to a monitor via HDMI cable and power on the robot. The system will enter the boot screen. Wait until [ OK ] Started Session 1 of user ysc. appears.

If after boot you don’t see the NVIDIA logo or [ OK ] Started Session 1 of user ysc., but instead see messages starting with [ Failed ], there may be a hardware issue with the perception module. Contact after-sales support.

2. After successful boot, connect a keyboard via USB and press Ctrl+Alt+F3 to enter the tty3 terminal.

3. Enter username ysc and password ' (single quote) to log in. After successful login:

4. After successful login, navigate to /usr/share/X11/xorg.conf.d and move xorg.conf to the parent directory:

cd /usr/share/X11/xorg.conf.d/
sudo mv xorg.conf ..            # mv is move command, moves xorg.conf to parent directory

Enter password ' (single quote) when prompted for [sudo] password for ysc:.

5. After rebooting the robot, the perception host will automatically enter the graphical interface. If the graphical interface doesn’t appear, the system may not have cleared the previous configuration cache. Please reboot again.

Restoring tty3 Auto-Start

Move xorg.conf back to its original path and reboot the robot to restore tty3 auto-start:

1. After booting into the graphical interface, press Alt+Ctrl+T to open a terminal window and enter:

cd /usr/share/X11/
sudo mv xorg.conf xorg.conf.d/  # mv is move command, moves xorg.conf to xorg.conf.d/

2. Enter password ' (single quote) to move the file.

If the move fails, xorg.conf may not be in /usr/share/X11/. Find the actual location of xorg.conf and move it to /usr/share/X11/xorg.conf.d/.

3. Reboot the robot to restore tty3 auto-start. After boot, the perception host will enter the tty3 terminal by default.