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THOR — Jetson Control Center for macOS

NVIDIA Jetson Thor

The first open-source macOS app to manage NVIDIA Jetson devices.
Power modes, Docker, ROS2, cameras, GPIO, AI models, ANIMA pipelines — all from your Mac.

CI macOS 14+ Swift 6.2 71 tests 50 API endpoints MIT License

Install

Homebrew (recommended)

brew tap RobotFlow-Labs/tap
brew install thorapp

This installs both the THOR.app GUI and the thorctl CLI.

From Source

git clone https://github.com/RobotFlow-Labs/thorapp.git
cd thorapp
make build        # Build all targets
make install-cli  # Install thorctl to /usr/local/bin
make run          # Package .app bundle and launch

Requirements

  • macOS 14+ (Sonoma) on Apple Silicon
  • Swift 6.2+ (xcode-select --install)
  • Docker Desktop (for Jetson simulators — optional for real hardware)

What THOR Does

THOR replaces SSH + terminal workflows with a native macOS control center for your Jetson devices.

Connect

# Add your Jetson (GUI or CLI)
thorctl connect 192.168.1.100
# Or use the built-in Docker simulators
docker compose up -d
thorctl connect localhost 8470

Control

The app provides 12 feature panels organized into 4 groups:

DEVICE RUNTIME OPERATIONS OBSERVE
Overview Docker Files Logs
System Info ROS2 Deploy History
Power & Thermal ANIMA GPU & Models
Hardware

Manage from Terminal

thorctl health              # Agent health check
thorctl sysinfo             # System info (model, kernel, JetPack, uptime)
thorctl power               # Power mode, clocks, fan speed
thorctl cameras             # List cameras (CSI, USB, ZED)
thorctl gpu                 # GPU info, CUDA, TensorRT, models
thorctl docker              # List Docker containers
thorctl ros2-nodes          # List ROS2 nodes
thorctl ros2-topics         # List ROS2 topics
thorctl ros2-echo /chatter  # Echo a live ROS2 topic
thorctl modules             # List ANIMA AI modules
thorctl network             # Network interfaces
thorctl disks               # Storage usage
thorctl usb                 # USB devices
thorctl exec "uname -a"     # Run any command
thorctl watch               # Live metrics dashboard
thorctl screenshot          # Capture screen for debugging

25 commands total. Run thorctl help for the full list.

Features

Power & Thermal Management

  • Power modes: Switch between MAXN, 30W, 15W via nvpmodel
  • Jetson clocks: Lock/unlock frequencies for max performance
  • Fan control: Adjustable PWM speed slider
  • Thermal monitoring: Live temperature gauges with color-coded alerts

Hardware Detection

  • Cameras: Auto-detect CSI, USB, and ZED cameras
  • GPIO: Pin state visualization with direction indicators
  • I2C: Bus scanning with device address discovery
  • USB: Full device enumeration
  • Serial: Port detection (ttyUSB, ttyACM, ttyTHS)

Docker Container Management

  • List, start, stop, restart containers with confirmation dialogs
  • View container logs
  • Image management (list, pull)
  • NVIDIA Container Runtime support

ROS2 Full Lifecycle

  • Nodes: List active nodes
  • Topics: List with message types, echo live messages
  • Services: List with service types
  • Launch: Start/stop launch files
  • Lifecycle: Node state management (configure, activate, deactivate)
  • Bags: Record, stop, list, play rosbags

ANIMA AI Module Deployment

  • Browse module registry (PETRA, CHRONOS, PYGMALION)
  • Check Jetson platform compatibility
  • Compose docker-compose pipelines with TensorRT backend
  • Deploy with one click, monitor per-container health

GPU & Model Management

  • CUDA version, TensorRT version
  • GPU memory usage gauge
  • TensorRT engine file listing
  • Model inventory (ONNX, TRT, PT, SafeTensors)

File Transfer

  • rsync delta sync + scp upload
  • Drag-and-drop with progress tracking
  • SHA-256 checksum verification
  • Transfer history

System Administration

  • Kernel, L4T, JetPack version info
  • Package management (apt update/upgrade)
  • User management
  • Storage monitoring with per-filesystem usage bars
  • Network interface listing with IP/MAC
  • WiFi scanning and connection

Security

  • Trust-On-First-Use: SSH host key fingerprint verification
  • Keychain: All credentials in macOS Keychain
  • Localhost agent: API bound to 127.0.0.1, accessed via SSH tunnel
  • Confirmations: Reboot, delete, container stop require explicit confirmation
  • Auto-reconnect: Exponential backoff (2-32s)

Architecture

macOS                                    Jetson Device
┌──────────────────┐                    ┌──────────────────────┐
│  THOR.app        │    SSH Tunnel      │  THOR Agent          │
│  (SwiftUI)       │◄──────────────────►│  (Python/FastAPI)    │
│                  │                    │  50 endpoints        │
│  thorctl (CLI)   │    HTTP/JSON       │  10 router modules   │
│  25 commands     │◄──────────────────►│  localhost:8470      │
└──────────────────┘                    │                      │
                                        │  ├ power.py          │
                                        │  ├ system.py         │
                                        │  ├ hardware.py       │
                                        │  ├ docker.py         │
                                        │  ├ ros2.py           │
                                        │  ├ gpu.py            │
                                        │  ├ anima.py          │
                                        │  ├ network.py        │
                                        │  ├ storage.py        │
                                        │  └ logs.py           │
                                        └──────────────────────┘

Project Structure

thorapp/
├── Package.swift                # 4 Swift targets
├── Makefile                     # build, test, run, install, Docker
├── Sources/
│   ├── THORApp/                 # SwiftUI macOS app
│   │   ├── Views/               # 26 views (sidebar, panels, dialogs)
│   │   └── Services/            # 8 services (connector, deployer, etc.)
│   ├── THORShared/              # Shared library
│   │   ├── Database/            # GRDB SQLite (13 tables)
│   │   ├── Models/              # 50+ response types
│   │   ├── SSH/                 # Session manager, host key verifier
│   │   └── Keychain/            # macOS Keychain wrapper
│   ├── THORctl/                 # CLI (25 commands)
│   └── THORCore/                # Background helper
├── Agent/                       # Python Jetson agent
│   ├── main.py                  # FastAPI core
│   ├── routers/                 # 10 endpoint modules
│   ├── sim.py                   # Simulation state
│   └── process_manager.py       # Background process tracking
├── Tests/                       # 71 tests, 8 suites
├── Docker/                      # Jetson simulator
└── .github/workflows/           # CI/CD

Development

make build          # Debug build
make release        # Release build
make test           # Run all 71 tests
make test-unit      # Unit tests only (no Docker)
make run            # Package + launch app
make docker-up      # Start Jetson simulators
make docker-down    # Stop simulators
make install-cli    # Install thorctl to /usr/local/bin
make icon           # Generate app icon
make stats          # Show project statistics
make clean          # Clean build artifacts

Docker Simulators

docker compose up -d                 # Start Thor + Orin sims
thorctl connect localhost 8470       # Connect to Thor sim
thorctl connect localhost 8471       # Connect to Orin sim

# Default SSH: jetson@localhost:2222 (password: jetson)
# Thor sim:  port 2222 (SSH), port 8470 (agent)
# Orin sim:  port 2223 (SSH), port 8471 (agent)

The sims include:

  • ROS2 Humble with demo talker/listener (live /chatter topic)
  • Docker CLI (Docker-in-Docker via socket mount)
  • Simulated JetPack 6.1, CUDA 12.6, TensorRT 10.3

Jetson Agent Installation

On your real Jetson device:

# Copy agent files
scp -r Agent/ jetson@YOUR_JETSON:/opt/thor-agent/

# Install dependencies
ssh jetson@YOUR_JETSON "pip3 install fastapi 'uvicorn[standard]' psutil pyyaml python-multipart"

# Create systemd service
ssh jetson@YOUR_JETSON "sudo tee /etc/systemd/system/thor-agent.service << EOF
[Unit]
Description=THOR Jetson Agent
After=network.target

[Service]
Type=simple
User=jetson
ExecStart=/usr/bin/python3 /opt/thor-agent/main.py
Restart=always
Environment=THOR_AGENT_HOST=127.0.0.1
Environment=THOR_AGENT_PORT=8470

[Install]
WantedBy=multi-user.target
EOF"

# Enable and start
ssh jetson@YOUR_JETSON "sudo systemctl daemon-reload && sudo systemctl enable --now thor-agent"

Supported Devices

Device JetPack Status
Jetson Thor 7.0+ Primary
Jetson AGX Orin 5.1+ Supported
Jetson Orin NX 5.1+ Supported
Jetson Orin Nano 5.1+ Supported

Contributing

  1. Fork the repo
  2. make build && make test
  3. Submit a PR

See LICENSE for MIT license details.

Built by RobotFlow Labs • An AIFLOW LABS project

About

THOR — Native macOS control center for NVIDIA Jetson devices. Manage power, Docker, ROS2, ANIMA AI modules, cameras, GPIO, and more. No terminal needed.

github.com/RobotFlow-Labs

Topics

macos docker cli open-source robotics jetpack nvidia control-plane jetson ros2 tensorrt swiftui edge-ai jetson-orin jetson-thor

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Releases 1

THOR v0.1.0 — Jetson Control Center for macOS Latest
Mar 28, 2026

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