I actually wanted to know, is there anyway we can provide internet access to the Go1, without the Ethernet option, as we have only one port and that we are using for LiDAR. So is there a way that we attach a usb dongle to the robot and provide internet to it? Because we want to access the ros topics and the robot keeps walking so it’s not possible to always be in the WiFi provided by robot. So if there is a way we can get access of internet, we would be able to publish the data via web sockets.
Yes, there is. You can simply connect a dongle like TP-Link TL-WN722N with a USB hub.
You don’t need web sockets, you can just configure the robot to be multi-machine, just source the following in all your robots terminal before launching ros (or put it in .bashrc)
# Unitree PC
export ROS_MASTER_URI=http://192.168.123.12:11311
export ROS_HOSTNAME=192.168.123.12
export ROS_IP=192.168.123.12
The IP 192.168.123 will be switched with your router provided IP and the final 2 ips 12 will be replaced according to your robots IP which you check with ip a
# External PC over WiFi
export ROS_MASTER_URI=http://192.168.123.12:11311
export ROS_HOSTNAME=192.168.123.50
export ROS_IP=192.168.123.50
Same for external PC just that the ROS_MASTER_URI will be that of the robots ip.
Hi Ravin,
I had the same topic with my Go1: connecting a LiDar on USB of the jetson nano and connecting an USB/LTE Modem to get into the internet.
At last I had trouble with the power consumption of both devices together. The jetsons do not drive that much current on the usb.
So I decided to build a “backpack” with another raspi. This additional raspi was powered via the XT30 connector with a dc/dc converter 24V-5V. On this raspi I was able to drive a flir thermal cam, a LiDar and a USB/LTE modem.
When connecting to the internet via USB/LTE in germany you will also run into the issue, that on a mobile device no server can be connected. One solution is to work via vpn (e.g. openvpn).
Kind regards, Markus
Yes, there is. You can simply connect a dongle like TP-Link TL-WN722N with a USB hub.
Ok, so I have a TP-Link dongle so if I simply just connect it everything will work or I have to do below given steps to make it work?
You don’t need web sockets, you can just configure the robot to be multi-machine, just source the following in all your robots terminal before launching ros (or put it in .bashrc)
The reason I want internet was that if I have my data on server, I do not need to be in the same network as my Robot, to access data. As in, I can be at my home and I can simply just access my ROS topics. Because, currently I am accessing the data over WiFi of Go1 and it will be kind off similar I believe if I have a over all WiFi, both my PC and Unitree PC will be in the same range and just ROS_MASTER_URI will be of Unitree PC in my PC. My idea was to access the data from a different IP pool like a whole different network.
Yes with the TP-Link dongle just connect it to the robot and use the command via ssh sudo nmtui. Select your WiFi router and connect to it, be sure to add the password as well. ping google.com to check if everything is working. Also remember not to do sudo upgrade in the Nvidia board of the Unitree Go1.
I believe in the setup I have, the LiDAR is supplied power externally and just the LAN port is used to exchange the data from LiDAR to Go1. So power supply shouldn’t be a problem if I just connect USB dongle on one of the USB ports to get internet.
When connecting to the internet via USB/LTE in germany you will also run into the issue, that on a mobile device no server can be connected. One solution is to work via vpn (e.g. openvpn).
However, I did not understand this part, so could you please explain it to me again.
I tried to do as you said, I attached the usb dongle with Go1, I did sudo nmtui and then I am also able to see networks in activate connection, I choose wifi of my lab and it asks for password. I enter the correct password but I keep getting this error every time I try to connect.
I am not sure if your lab wifi is blocked. Can you try making your mobile a wifi hotspot and then connecting to it. Also please ensure via lsusb that the dongle is connected.
I tried first with my hotpot but it gave same problem, so I tried with lab’s wifi, but the error persists. Also in lsusb it does detect as if I remove my dongle the option of wifi is also not available in sudo nmtui. So I believe it is detecting dongle.
In this you can see Device 004 ID 2357, is my usb dongle
I tried in Nvidia board 15 and it worked, I am able to get internet in Nvidia board 15, but I had to do some changes like I had to delete “eth0 192.168.123.161” from default in IP route and added it again to default but with metric 200 and had to give my wlan0 metric 100, so that its higher priority. I hope that will not affect robot. Also I curious to know why it’s not working in Nvidia board 14. Do you have any other idea?
Also in my Nvidia board 13 usb is not being detected at all, does it mean that the port is broken or dis-functional now?
This disrupts connection to the robots main MCU. You should add it back once you have what you need from the internet.
But I want the connection to internet all the time, as I want to access ROS topics from robot, from anywhere at anytime. So I want internet all the time. Also I am readding the eth0 192.168.123.161 to default but with lower priority as wlan0. Is that harmful too ? I am not completely deleting anything, I am lowering the default rights. Otherwise, even if I have successful WiFi connection I am unable to ping google.com or have internet.
It should work there as well.
That’s what even I am thinking that why is it not working.
It might be the case that the wiring or connection has come loose
