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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 - WSL2

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

When using WSL2, create a .wslconfig file in the current Windows user profile directory and add networkingMode=Mirrored, for example:

WSL config file path

WSL config file content

Configure the IP address in Windows:

IP Configuration

Verify configuration:

ifconfig
Expected Output

Displays inet 192.168.100.99

Firewall Notice

If SDK interface tests fail, run the following in Administrator PowerShell:

Set-NetFirewallProfile -Profile Domain,Private,Public -Enabled False

It is recommended to restore the firewall immediately after debugging:

Set-NetFirewallProfile -Profile Domain,Private,Public -Enabled True

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

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 Configure environment variables

Path Description

/opt/galbot/ is the default installation path, can be modified according to your installation path

source /opt/galbot/galbot_sdk/linux-x86_64-gcc940/setup.sh
Persist Environment Variables
echo 'source /opt/galbot/galbot_sdk/linux-x86_64-gcc940/setup.sh' >> ~/.bashrc
source ~/.bashrc

5.2 Run C++ Programs

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

5.3 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