Prerequisites for Software

Hardware Requirements

To ensure codec performance, as well as inference performance, make sure that your onboard computer has the following minimum operating requirements:

Components	Minimum Requirements	Used for	Reasoning
CPUs	4 Cores	Video streaming for remote teleoperation and image compression of dataset creation	These operations use software codecs, and low CPU performance can result in encoding frame rates not keeping up with camera frame rates
RAM	8 GB	Dataset creation cache	Camera images are cached in memory for a period of time before being written to disk
GPU	NVIDIA RTX2060	Inference of VLA models	AhaRobot uses NVIDIA GPUs for inference acceleration

Software Requirements

The main part of AhaRobot runs on ROS2 Humble and employs Docker to isolate the main system. Make sure you have the following software components installed on your onboard computer:

Components	Installation Instructions
Ubuntu 24.04.1 Desktop	Ubuntu Desktop
Docker	Docker Installation
NVIDIA Container Toolkit	NVIDIA Container Toolkit
Sunshine (recommended)	Sunshine Documentation Every time you reboot your system, you need to start the service in the terminal with this command: systemctl --user restart sunshine && DISPLAY=:0 xhost local: +