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Robot-Side Deployment Run programs on the robot Orin for production environments and real-time applications. PC-Side Deployment Run programs on a PC for development and debugging with Ubuntu, WSL2, or VMWare. Docker Deployment Run the SDK and dependencies inside an isolated container environment.

PC-Side Deployment - Ubuntu

Use Case: Development and debugging, rapid iteration

Features: Convenient development, supports LAN remote control

1. Physical Connection​

S1's Ethernet port sits inside a cover on the underside of the torso, so you need to open the cover before the port is accessible. Steps:

1.1 Open the cover on the underside of the robot's torso and locate the Ethernet port inside

1.2 Plug one end of the Ethernet cable into the robot's Ethernet port, and the other end into the PC's network port

The overall wiring after connection is shown below:

Connection Diagram

2. Network Configuration​

2.1 Configure PC Network Interface IP​

  • IP Address: 192.168.100.99 (or other address in the same subnet)
  • Subnet Mask: 255.255.255.0

Settings path: Settings → Network → Wired Settings → IPv4 → Manual

IP Configuration

Verify configuration:

ifconfig
Expected Output

Displays inet 192.168.100.99

2.2 Configure PC IP Configuration File​

File path: /data/config/embosa_ip_config.json

Configuration example (assuming PC: 192.168.100.99, XCU: 192.168.100.66, Orin: 192.168.100.88):

{
    "embosa_ip": {
        "local_interface": [
            "192.168.100.99"
        ],
        "peer_lists": [
            "192.168.100.66",
            "192.168.100.88"
        ]
    }
}

2.3 Configure Orin IP Configuration File​

Prerequisites

You must first connect to Orin via WiFi, refer to Robot-Side Deployment Step 1

2.3.1 Login to Orin

ssh galbot@<Orin Wireless IP>
# Password: gb@2023

2.3.2 Edit configuration file

vi /data/config/embosa_ip_config.json

2.3.3 Configuration content

Important

192.168.100.88 and 192.168.100.66 are internal direct connection IPs between Orin and XCU, must be retained

{
    "embosa_ip": {
        "local_interface": [
            "192.168.100.88"
        ],
        "peer_lists": [
            "192.168.100.66",
            "192.168.100.99"
        ]
    }
}

2.4 Configure XCU IP Configuration File​

2.4.1 Login to XCU

ssh root@<XCU Wireless IP>
# Password: 12345678

2.4.2 Edit configuration file

vi /data/config/embosa_ip_config.json

2.4.3 Configuration content

{
    "embosa_ip": {
        "local_interface": [
            "192.168.100.66"
        ],
        "peer_lists": [
            "192.168.100.88",
            "192.168.100.99"
        ]
    }
}

2.5 Verify Network Connection​

Required Action

You must restart the robot after modifying the configuration

Test connection after restart:

ping 192.168.100.66  # Test XCU
ping 192.168.100.88  # Test Orin
Expected Result

Normal ping response returned

ping XCU result

ping Orin result

3. Install SDK on PC​

Navigate to the SDK directory and execute the installation script

cd GalbotSDK
./install.sh
Environment Variables Automatically Configured

The installation script automatically configures environment variables on the PC by adding the following to ~/.bashrc:

source /opt/galbot/galbot_sdk/linux-x86_64-gcc940/setup.sh

Re-login or run source ~/.bashrc to activate. If the galbot_sdk library is not found, re-run the installation script or check the configuration in ~/.bashrc.

4. Compile Programs​

Compile on PC (x86_64)

cd examples/cpp/
mkdir -p build
cd build
cmake ../ -DCMAKE_TOOLCHAIN_FILE=../cmake/linux-x86_64-gcc940.cmake
make

5. Run Programs​

5.1 Run C++ Programs

cd /userdata  # or the directory where your program is located
./your_app

5.2 Run Python Programs

python your_app.py
Python Dependency Installation

Some Python examples depend on additional libraries. Before running the Python examples, please execute the following script to ensure all required dependencies are installed:

cd GalbotSDK
./install_python_deps.sh