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@Victorvikson1996

Victorvikson1996/gist:33345a608acb87b35e0398b37257d985

Forked from dbaldwin/gist:b31835f87f16450a956cf3c89e15a289
Created January 10, 2024 20:51
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Revisions

  1. @dbaldwin dbaldwin revised this gist Jan 13, 2023. 1 changed file with 2 additions and 2 deletions.
    4 changes: 2 additions & 2 deletions gistfile1.txt
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    Original file line number Diff line number Diff line change
    @@ -49,6 +49,6 @@ 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

    # Do the following on your own laptop：
    sudo route add default gw 192.168.12.1
    # Do the following on your own laptop (Linux host only)
    # sudo route add default gw 192.168.12.1

  2. @dbaldwin dbaldwin revised this gist Jan 13, 2023. 1 changed file with 19 additions and 1 deletion.
    20 changes: 19 additions & 1 deletion gistfile1.txt
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    Original file line number Diff line number Diff line change
    @@ -1,4 +1,22 @@
    # Connect to Unitree Go1 network
    # From Windows terminal
    docker run -p 6080:80 --shm-size=512m --name ros_go1 -d tiryoh/ros-desktop-vnc:melodic

    # Access the instance through the url
    http://localhost:6080

    # From home directory in Docker
    mkdir -p catkin_ws/src

    # Go into catkin workspace
    cd catkin_ws/src

    # Clone legged SDK for Go1
    git clone -b v3.8.0 https://github.com/unitreerobotics/unitree_legged_sdk

    # Build for low level
    cd unitree_legged_sdk && mkdir build && cd build && cmake .. && make

    # Power up Unitree Go1 and connect to wireless network

    # Put Go1 into low level mode with remote
    # L2 + A
  3. @dbaldwin dbaldwin revised this gist Jan 13, 2023. 1 changed file with 6 additions and 6 deletions.
    12 changes: 6 additions & 6 deletions gistfile1.txt
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    Original file line number Diff line number Diff line change
    @@ -1,5 +1,11 @@
    # Connect to Unitree Go1 network

    # Put Go1 into low level mode with remote
    # L2 + A
    # L2 + A
    # L2 + B
    # L1 + L2 + Start

    # SSH to Pi with password 123
    ssh [email protected]

    @@ -28,9 +34,3 @@ sudo iptables -A FORWARD -i eth0 -o wlan1 -j ACCEPT
    # Do the following on your own laptop：
    sudo route add default gw 192.168.12.1

    # Put Go1 into low level mode
    # L2 + A
    # L2 + A
    # L2 + B
    # L1 + L2 + Start

  4. @dbaldwin dbaldwin revised this gist Jan 13, 2023. 1 changed file with 8 additions and 1 deletion.
    9 changes: 8 additions & 1 deletion gistfile1.txt
    View file
    Original file line number Diff line number Diff line change
    @@ -26,4 +26,11 @@ sudo iptables -A FORWARD -i wlan1 -o eth0 -j ACCEPT
    sudo iptables -A FORWARD -i eth0 -o wlan1 -j ACCEPT

    # Do the following on your own laptop：
    sudo route add default gw 192.168.12.1
    sudo route add default gw 192.168.12.1

    # Put Go1 into low level mode
    # L2 + A
    # L2 + A
    # L2 + B
    # L1 + L2 + Start

  5. @dbaldwin dbaldwin revised this gist Jan 13, 2023. 1 changed file with 14 additions and 0 deletions.
    14 changes: 14 additions & 0 deletions gistfile1.txt
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    Original file line number Diff line number Diff line change
    @@ -1,11 +1,25 @@
    # Connect to Unitree Go1 network

    # SSH to Pi with password 123
    ssh [email protected]

    # Execute the following code on the robot's Raspberry Pi：
    sudo vi /etc/sysctl.conf

    # Remove the comment in front of net.ipv4.ip_forward=1

    # Reload sysctl
    sudo sysctl -p

    # Setup iptables for wireless config

    # Flush iptables
    sudo iptables -F

    # Flush NAT table
    sudo iptables -t nat -F

    # Setup NAT table routing
    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
  6. @dbaldwin dbaldwin created this gist Nov 30, 2022.
    15 changes: 15 additions & 0 deletions gistfile1.txt
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    Original file line number Diff line number Diff line change
    @@ -0,0 +1,15 @@
    # Execute the following code on the robot's Raspberry Pi：
    sudo vi /etc/sysctl.conf

    # Remove the comment in front of net.ipv4.ip_forward=1
    sudo sysctl -p

    sudo iptables -F
    sudo iptables -t nat -F
    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

    # Do the following on your own laptop：
    sudo route add default gw 192.168.12.1