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Network and troubleshooting

Gamepad -> server -> Open5GS -> 5G -> robot UDP 9020 -> ROS cmd_vel
Viewer  <- Open5GS tunnel address 10.45.0.1:5010 <- robot camera
Setting Value
Core container open5gs_5gc, 10.53.1.2
Host on core bridge 10.53.1.1
UE subnet / gateway 10.45.0.0/24 / 10.45.0.1
Robot reserved IP / SSH user 10.45.0.2 / wheeltec
APN / PLMN / TAC / slice SST srsapn / 00101 / 7 / 1
Control / video UDP 9020 / RTP H.264 UDP 5010, payload 96
Radio USRP X300 family, 192.168.40.2, external clock and sync
Server radio NIC ens7f0, 192.168.40.1/24, MTU 9000
Cell Band 78, ARFCN 627340, 90 MHz, 30 kHz SCS, 2 TX / 2 RX
Modem Quectel RM500Q-GL, managed by ModemManager

The modem service reads its actual address, prefix, gateway, MTU, and DNS from the connected bearer. It installs a default route with metric 100. The core reserves 10.45.0.2 through subscriber provisioning.

The core advertises DNS 144.32.128.242 and 144.32.128.243. These are site-specific; change server/core/open5gs/open5gs-5gc.yml if restoring on another network.

Server checks

sudo docker ps --filter name=open5gs_5gc
ip route get 10.45.0.2
ping -c 3 10.45.0.2
ls -l /dev/input/by-id/*event-joystick

The UE route should use 10.53.1.2 with source 10.53.1.1. After recreating the Docker network, run sudo systemctl restart robot-ue-route.service.

The camera viewer joins the core container's network namespace because 10.45.0.1:5010 is inside that container. A viewer listening only in the host network will miss this stream. Run the viewer from the local desktop session; it uses X11/XWayland display authorization.

Robot checks

ssh wheeltec@10.45.0.2
systemctl status robot-demo.target robot-5g robot-base robot-control robot-camera
sudo journalctl -u robot-5g -u robot-control -u robot-camera -n 80 --no-pager
ip -4 address show wwan0
ip route
resolvectl status wwan0
curl --interface wwan0 -I --max-time 15 https://www.google.com
ls -l /dev/wheeltec_controller /dev/v4l/by-id/

An unavailable 5G network leaves the modem service retrying; the other services wait for it. A disconnected camera causes the camera service to retry. To stop the robot services, use sudo systemctl stop robot-demo.target.

Fixes included

  • UE internet NAT masquerades traffic leaving ogstun; it no longer adds 256 duplicate rules in the wrong direction.
  • Host-to-UE traffic gets a specific route and SNAT to the core tunnel address. The SNAT rule is restricted to the Docker host's traffic.
  • The core subscriber helper preserves the fixed UE IP when adding or updating the subscriber.
  • Systemd supervises the robot processes and replaces the old one-shot @reboot job.
  • The D-pad sends a refresh every 200 ms while held. The sender sends neutral on Ctrl-C/SIGTERM.
  • The camera uses its stable USB device path, MJPEG capture, and a 6 Mbps H.264 encoder.

Control packets are unauthenticated UDP. This setup assumes the trusted lab network. The five-second timeout is a software fallback, not an emergency stop.