Unfortunately, hydrogen doesn't have the energy density required for trucks. They'll need to move to natural gas or biodiesel until batteries catch up.
> Cryo-compressed hydrogen stations cost about $2.1 million apiece today, while Asemblon figures that stations using its form of hydrogen fuel would cost about one-tenth as much.
Even if you get the cost down to $200K for a cryo-hydrogen fueling station, you still need to make the hydrogen from natural gas (which you could just burn in the first place) or from electrolysis (which is terribly inefficient).
You'll see natural gas truck powerplants long before you see hydrogen versions. Natural gas fueling stations are very inexpensive and straightforward where there is natgas infrastructure already run.