Summary

• ROS through WIFI on different computers(robot's network)
  • GO1 Unitree Robot Network Configuration
    • Steps on the Robot's Raspberry Pi
    • Configure iptables for Network Address Translation (NAT)
    • Configuration on Your Linux Host
• Connection Bitdog-Local Wifi(local network)
  • Driver installation
  • Connection tutorial

ROS through WIFI on different computers(robot's network)

We had a problem that didn't allow us to have access of the ROS's topics using a different computer. Turns out that this was because of the configuration of robot's internet config.

To solve this we followed the tutorial presented in here.

GO1 Unitree Robot Network Configuration

This guide provides steps to configure the network settings on a Unitree GO1 robot's Raspberry Pi and a Linux host for efficient communication.

Steps on the Robot's Raspberry Pi

SSH into the Raspberry Pi: Securely log into the Raspberry Pi on the robot using SSH (Secure Shell)

ssh pi@192.168.12.1

Open the sysctl.conf file:

sudo nano /etc/sysctl.conf

Uncomment the line net.ipv4.ip_forward=1. This Enables IP forwarding to allow the Raspberry Pi to route traffic between its network interfaces.

Reload the sysctl configuration to apply the updated system configuration.

sudo sysctl -p

Configure iptables for Network Address Translation (NAT)

Flush existing iptables rules to clear all existing rules in iptables to start fresh.

sudo iptables -F 
sudo iptables -t nat -F

Set up NAT routing to Configure NAT to translate network addresses for outgoing connections and Allow forwarding of packets between the WLAN (wlan1) and Ethernet (eth0) interfaces.

sudo iptables -t nat -A POSTROUTING -o wlan1 -j MASQUERADE
sudo iptables -t nat -A POSTROUTING -o eth0 -j MASQUERADE
sudo iptables -A FORWARD -i wlan1 -o eth0 -j ACCEPT
sudo iptables -A FORWARD -i eth0 -o wlan1 -j ACCEPT

Now, to check if it worked, exit the pi ssh and run ping 192.168.123.15 (this is the ip of one of the Jetsons). If the packets are going through, the configuration has succeeded. If not, try the next step.

Configuration on Your Linux Host

Set Default Gateway to route all traffic through the robot's network, enabling your Linux host to communicate with the robot.

sudo route add default gw 192.168.12.1

Connection Bitdog-Local Wifi (local network) using a USB Wireless Module

Driver installation

To connect the robot to our local network(PMEC-FENIX) we used a USB Wireless Module and followed the tutorial described bellow:

Clone the Driver's Repository inside Raspberry Pi:

git clone https://github.com/RinCat/RTL88x2BU-Linux-Driver.git

Then Compile (build) and install:

make
sudo make install

Therefore, To use it, connect the module to RaspberryPi's USB port and execute:

sudo modprobe 88x2bu 

To make it permanent, add the module to the list of modules loaded at boot time:

sudo bash -c 'echo '88x2bu' >> /etc/modules'

Connection tutorial

Disclaimer: If you use this method and want a connection with one of the Jetsons, you will need to connect to the Raspberry Pi first, and then to the Jetson. This means that in some cases where you need a direct connection to the Jetson you should not use this method, you will need to connect to the Raspberry Pi's wifi cachorro_robo, enabling direct connections.

Now, to connect to the Robot-Work-Environment(where we use buildMap and Patrol) we have to enter to RaspberryPi first through ssh(robot's network) to discover the IP of the local network.

ssh pi@192.168.12.1
ifconfig

Now we do the same process again using the new IP network to enter RaspberryPI and then the Jetson Xavier:

ssh pi@w.x.y.z
ssh unitree@192.168.123.15