Feature g1 internet connection instructions

sidebars-tutorial.ts

@@ -15,7 +15,8 @@ const sidebarsTutorial: SidebarsConfig = {
       label: 'Humanoid Tutorials',
       items: [
         'unitree/g1_dev_guide',
-        'unitree/g1_diag_guide'
+        'unitree/g1_diag_guide',
+        'unitree/g1_internet_guide'
       ],
     },
   ],

tutorial/unitree/g1_internet_guide.md

@@ -0,0 +1,153 @@
+# G1 Internet Access Guide
+
+
+This guide details 2 methods to provide the internal development PC (192.168.123.164) internet access.
+The first method utilises the WiFi card onboard the internal development PC to connect to a WiFi Access Point with internet access.
+The second method configures a host computer to connect to the internal development PC using a static IP over Ethernet and share internet access from the host.
+
+## Method 1: Connect Internal Development PC to WiFi
+
+1. Connect to the internal development PC via LAN using **port 4 or 5** on the G1 electrical interface.
+[![lshw -C network output](./img/dev_pc_hw_interface.jpg)](./img/dev_pc_hw_interface.jpg)
+
+2. ssh into the internal development PC
+```bash
+ssh unitree@192.168.123.164
+Password: 123
+```
+
+3. Show Network Devices
+```bash
+lshw -C network
+```
+[![lshw -C network output](./img/lshw.png)](./img/lshw.png)
+
+4. Check Wi-Fi Block Status
+```bash
+sudo rfkill list
+```
+[![lshw -C network output](./img/rfkill_list.png)](./img/rfkill_list.png)
+
+If Wi-Fi is blocked, unblock it:
+```bash
+sudo rfkill unblock wlan
+```
+5. Enable WiFi
+```bash
+sudo nmcli radio wifi on
+```
+6. Connect to a WiFi Network
+```bash
+sudo nmcli device wifi connect <SSID> password <password>
+```
+7. Test
+```bash
+ping 8.8.8.8
+```
+
+## Method 2: Network Sharing Between Host and Internal Development PC
+
+Connect to the internal development PC via a USB-hub using **port 9** on the G1 electrical interface.
+[![lshw -C network output](./img/dev_pc_hw_interface.jpg)](./img/dev_pc_hw_interface.jpg)
+
+### Step 1: Configure Static IP on Robot (Internal Development PC)
+
+Create a Netplan config file
+```bash
+sudo vim /etc/netplan/01-network-manager-all.yaml
+```
+Paste the following into the file:
+```bash
+network:
+  version: 2
+  renderer: NetworkManager
+  ethernets:
+    eth0:  # replace with the unassigned ethernet interface
+      dhcp4: no
+      addresses: [192.168.1.2/24]
+      gateway4: 192.168.1.1   # This IP address corresponds to the host's static IP, to be created in step 2
+      nameservers:
+        addresses: [8.8.8.8, 8.8.4.4]
+```
+*Note: The internal development PC has 2 ethernet interfaces (eth0 and eth1). One of the interfaces will already be assigned an IP of 192.168.123.164. **Please do not configure this interface in the netplan config file, instead use the UNASSIGNED interface.***
+
+Test the Netplan configuration
+```bash
+sudo netplan try
+```
+Press the "Enter" key when prompted.
+
+Verify the default gateway on the internal computer
+```bash
+ip route
+```
+The expected output:
+```bash
+default via 192.168.1.1 dev eth0 proto static metric 101
+```
+
+### Step 2: Configure Static IP on Host (Your Computer)
+
+Assign a static IP to your host’s Ethernet interface that is in the same subnet, e.g., 192.168.1.1.\
+**The IP address must follow the gateway address set in the netplan config file in step 1.**
+```bash
+sudo nmcli con modify <ethernet_interface_name> ipv4.addresses 192.168.1.1/24
+sudo nmcli con modify <ethernet_interface_name> ipv4.method manual
+sudo nmcli con up <ethernet_interface_name>
+```
+###  Step 3: Enable Internet Sharing on the Host
+
+1. Verify the internet-connected interface on host computer
+```bash
+ip route get 8.8.8.8
+```
+The expected output should be similar to:
+```bash
+8.8.8.8 via 192.168.29.1 dev wlp0s20f3 src 192.168.29.179 uid 1000
+```
+
+For this sample setup, we'll use the interfaces below. Please change the interfaces according to your host computer.
+
+Ethernet to robot is: enx34298f73882f
+
+Internet interface is the interface identified in step 3.1: wlp0s20f3 (WiFi) or enp0s31f6 (LAN)
+
+2. Enable IP Forwarding
+Check if enabled:
+```bash
+cat /proc/sys/net/ipv4/ip_forward
+```
+If it returns 0, enable it:
+```bash
+echo "1" > /proc/sys/net/ipv4/ip_forward
+```
+3. Set Up NAT and Forwarding Rules
+```bash
+# Replace wlp0s20f3 with your actual internet interface
+# Replace enx34298f73882f with your robot ethernet interface
+
+sudo iptables --table nat --append POSTROUTING --out-interface wlp0s20f3 -j MASQUERADE
+sudo iptables --append FORWARD --in-interface enx34298f73882f --out-interface wlp0s20f3 -j ACCEPT
+sudo iptables --append FORWARD --in-interface wlp0s20f3 --out-interface enx34298f73882f -m state --state RELATED,ESTABLISHED -j ACCEPT
+```
+4. Verify the NAT Rule Exists
+```bash
+sudo iptables -t nat -L -n -v
+```
+*Look for a MASQUERADE rule under POSTROUTING.*
+
+### Step 4: Test the Connection
+
+#### On the robot (internal computer):
+1. Check IP address:
+```bash
+ifconfig
+```
+2. Ping the host computer:
+```bash
+ping 192.168.1.1
+```
+3. Try pinging a public IP:
+```bash
+ping 8.8.8.8
+```