network

45s, ref

Where neon, the MCU, and your laptop all sit.

topology

flowchart LR
  subgraph LAN["your LAN, WiFi"]
    M["Mac dev<br/>192.168.1.0/24"]
  end

  subgraph G1["Unitree G1"]
    direction TB
    J["Jetson Orin NX<br/>192.168.123.164<br/>runs neon agent"]
    C["Main MCU<br/>192.168.123.161<br/>sport_mode, loco_service<br/>arm_action"]
    Motors["motors, arms<br/>audio, LEDs"]

    J -.->|"CycloneDDS multicast<br/>on eth0"| C
    C -->|"SPI bus"| Motors
  end

  M <-->|"SSH, WiFi"| J
  M <-->|"optional ethernet"| C

  classDef dev stroke:#007a3d,stroke-width:1.5px
  classDef robot stroke:#666464,stroke-width:1.5px
  class M dev
  class J,C,Motors robot

address plan

host	iface	ip	role
Jetson	eth0	192.168.123.164/24	our agent runs here
MCU	eth0	192.168.123.161/24	Unitree embedded, no SSH
Jetson	wlan0	DHCP on your LAN, ubuntu.local over mDNS	companion WiFi: SSH, dashboard, Telegram
your Mac	en0 / en5	WiFi or static 192.168.123.100 via USB-C → RJ45	dev machine

Always use network_interface="eth0" in tools. It's the only interface that sees the motor bus.

connecting

SSH in

ssh unitree@192.168.123.164            # over ethernet (static route)
ssh unitree@ubuntu.local               # over WiFi, any network

Change the factory password on first login.

WiFi

make wifi (interactive) or make wifi SSID=x PASS=y; make wifi-status, make wifi-scan; the dashboard Configuration drawer has the same picker. The hostname ubuntu.local follows the robot across networks. When wlan0 loses every known network the neon-wifi-watchdog.timer (every minute) connects the low-priority fallback profile neon_net: create a hotspot with that name on your phone and the robot comes back reachable. scripts/change-ip.txt has the manual nmcli steps.

mac ethernet setup (dev)

If you want to SSH from Mac over ethernet:

System Settings → Network → USB 10/100/1000 LAN →
  Configure IPv4: Manually
  IP:      192.168.123.100
  Subnet:  255.255.255.0
  Router:  (blank)

Don't assign .161 or .164, those are the robot.

CycloneDDS

cat /home/unitree/cyclonedds_ws/cyclonedds.xml

Key settings:

• NetworkInterfaceAddress=eth0
• MaxMessageSize=65500
• Discovery ParticipantIndex=auto

Our tools read this from CYCLONEDDS_URI. env.sh sets it.

ports

Nothing exposed by default on the robot itself. When the compose stack runs:

port	service
8080	neon-dashboard (HTTPS, self-signed; also published through a Cloudflare tunnel, see dashboard)
8012 / 8013	WebXR teleop bridge (WSS / HTTPS), only when running
N/A	Telegram uses long-poll (no inbound port)

sanity checks

ip link show eth0                           # state UP?
ping -c 3 192.168.123.161                  # MCU reachable? (it has no sshd)
echo $CYCLONEDDS_URI                        # env set?
python3 -c "from tools import g1_get_state; print(g1_get_state())"

Every tool answering rc=3104 means eth0 is down, the wrong interface is selected, or CYCLONEDDS_URI is unset; the symptom table is on troubleshooting.

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