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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 One-Click Configuration for PC, XCU, and HPU​

Prerequisite

PC, XCU, and HPU must be able to ping each other

Run the configure_embosa_ip.sh script in the SDK directory to configure the IP addresses (example: PC: 192.168.100.99, XCU: 192.168.100.66, HPU: 192.168.100.88):

./configure_embosa_ip.sh

The script will interactively prompt for the following:

Enter PC IP: 192.168.100.99          # Required
Enter XCU IP [default 192.168.1.66]:  # Press Enter to use default
Enter HPU IP [default 192.168.1.88]:  # Press Enter to use default

The script will automatically configure the embosa IP for PC, XCU, and HPU, then restart the launcher on each device.

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