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Everything runs on the robot. You SSH in, edit code, restart. That’s it.

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Connect to MARS

1

Find your robot's IP

Open the Innate app. Go to Settings → WiFi. Note the IP address.
2

SSH in

ssh jetson1@<YOUR-ROBOT-IP>
Default password: goodbot. See Connecting via SSH for hostname, Ethernet, and USB-C options.
3

Open your IDE over SSH

Use Cursor, Windsurf, VSCode, or any editor with Remote SSH support.
  1. Open Command Palette (Cmd+Shift+P / Ctrl+Shift+P).
  2. Run Remote-SSH: Connect to Host….
  3. Enter jetson1@<YOUR-ROBOT-IP>.
  4. Open the folder /home/jetson1/innate-os/.
Set up SSH keys to skip the password prompt every time:
ssh-copy-id jetson1@<YOUR-ROBOT-IP>

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Optional: Fork the open-source repo

You don’t need to fork to start developing. Agents and skills in ~/agents/ and ~/skills/ work out of the box. Fork when you want to save, version-control, and share your work — or modify the OS itself (ROS2 nodes, drivers, launch files).
MARS runs innate-os, fully open source. Forking gives you your own remote repo to push changes to:
1

Fork on GitHub

Go to github.com/innate-robotics/innate-os and click Fork.
2

Clone your fork onto the robot

SSH into MARS and replace the default repo:
cd ~
mv innate-os innate-os-backup
git clone https://github.com/<YOUR-USERNAME>/innate-os.git
3

Make your fork launch on startup

The systemd service points to ~/innate-os/. Since you cloned into the same path, it just works. Verify:
innate service restart

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Launch and restart

MARS auto-launches all ROS2 nodes on boot via systemd. When you make changes, you need to restart. 
innate service restart
Or use the shorthand: 
in8 restart

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Watch the nodes boot

innate service view
This attaches you to the tmux session where every ROS node runs.
KeysAction
Ctrl+B then 0–6Switch to a window
Ctrl+B then ← / →Switch between left/right panes
Ctrl+B then OCycle to the next pane
Ctrl+B then ZZoom a pane to full screen (press again to unzoom)
Ctrl+B then DDetach from tmux (nodes keep running)
See the Innate CLI Reference for all available commands.

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Shutting down gracefully

Always shut down properly before unplugging power. A hard power cut can corrupt the filesystem. 
sudo shutdown now
Wait for the LED to turn off, then disconnect power.

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Project structure

When you SSH in, the key directories are:
PathWhat’s there
~/agents/Your agent definitions (hot-reloaded)
~/skills/Your custom skills
~/innate-os/The full OS repo
~/innate-os/ros2_ws/ROS2 workspace (all packages)
~/innate-os/scripts/Launch scripts, diagnostics, update system

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Next steps

Quick Development

Build your first agent in 5 minutes.

Advanced Development

Modify ROS2 nodes, recompile, visualize topics.

Innate CLI

Every command at your fingertips.

Foxglove Setup

Visualize what your robot sees in real time.