Network Setup

Note

Wired connection is preferred.

Remote PC Network Setup

Note

Wired connection is preferred.

1. Connect to the robot’s network via a wired connection or its wireless access point.

   • If connecting to wireless access point, the SSID will be something like Unitree_GoXXXXXXX and its password is 00000000 (eight zeros).

2. Get your computer’s network interface using the ifconfig command. You will see output similar to that below.

   $ ifconfig
   enp2s0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
           inet 192.168.0.193  netmask 255.255.255.0  broadcast 192.168.0.255
   
   wlp0s20f3: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
           inet 192.168.0.183  netmask 255.255.255.0  broadcast 192.168.0.255
   

   • Wired network connection interfaces start with en. In this case, it is enp2s0.

3. Set the static IP address of your wired network connection to 192.168.123.162 using the following commands. Make sure to substitute enp2s0 for the name of your wired network connection interfaces.

   $ sudo ifconfig enp2s0 down # enp2s0 is YOUR PC Ethernet port
   $ sudo ifconfig enp2s0 192.168.123.162/24
   $ sudo ifconfig enp2s0 up
   

4. Ping the Go1’s Raspberry Pi computer to test network connectivity. If you get results like the one below, you are properly connected.

   $ ping -c 3 192.168.123.161
   PING 192.168.123.161 (192.168.123.161) 56(84) bytes of data.
   64 bytes from 192.168.123.161: icmp_seq=1 ttl=64 time=0.056 ms
   64 bytes from 192.168.123.161: icmp_seq=2 ttl=64 time=0.054 ms
   64 bytes from 192.168.123.161: icmp_seq=3 ttl=64 time=0.054 ms
   
   --- 192.168.123.161 ping statistics ---
   3 packets transmitted, 3 received, 0% packet loss, time 2030ms
   rtt min/avg/max/mdev = 0.054/0.054/0.056/0.000 ms
   

SSH

Wireless Connection

Note

Wired connection is preferred.

To SSH into the robot on a wired connection:

$ ssh [email protected]
# password: 123

Once SSH’ed into the RPi, can access other onboard computers via the internal network switch. For example, to SSH into the Head Nano:

$ ssh [email protected]
# password: 123

All Nanos share the same username of unitree and password of 123. See the Go1 EDU Architecture diagram for a full list of IP addresses.

Wired Connection

The network port on the back of the Go1 EDU connects directly to its internal switch. Because of that, any onboard controller can be directly SSH’ed into. For example, to SSH into the Bottom Nano:

$ ssh [email protected]
# password: 123

All Nanos share the same username of unitree and password of 123. See the Go1 EDU Architecture diagram for a full list of IP addresses.

Remote Development

VSCode Remote Development

1. At Trossen Robotics, we use Microsoft’s VSCode and its Remote - SSH extension (also developed by Microsoft) for simple remote development.

   1. Install VSCode for Ubuntu.
   2. Open VSCode, Press Ctrl + P to launch the Quick Open Menu, and run the following command.

   ext install ms-vscode-remote.remote-ssh
   

2. In VSCode, press F1 and run the Remote-SSH: Open SSH Host... command and select the Add New SSH Host option. Enter the same username@ip combination you used when opening the SSH connection between your remote computer and the Go1 like ssh pi@192.168.12.1 or ssh unitree@192.168.123.15. If prompted, enter the password 123.
3. Once connected, use File > Open Folder, and select the directory you wish to operate in, i.e. your ROS workspace if using the ROS Interface.
4. Your instance of VSCode is now attached to the Go1’s Raspberry Pi computer and is open to your development workspace.
5. You can open terminals in VSCode by pressing Ctrl + Shift + ` or by using Terminal > New Terminal.