If you are working on DTC you will likely need to build and install the cdcl_umd_msgs repository, instructions can be found in the README for the repository
The file structure on most DTC base station devices is:
/home/<USER>/
└── DTC/
├── cdcl_ws/
│ └── src/
│ └── cdcl_umd_msgs/
└── inference_engine/
On network setup page > General, set Default interface to Payload
On network setup page > Ethernet, no special changes since WS3
On network setup page > WiFi, disable WiFi Radio
On network setup page > Payload,
- IPv4 Address is
192.168.50.3 - Stored Default Route is
192.168.50.5
Tell the Linux kernel to allow packet transit.
Note: To make this survive reboots permanently, ensure
net.ipv4.ip_forward=1is uncommented in/etc/sysctl.conf.
sudo sysctl -w net.ipv4.ip_forward=1Check names for interfaces using ip a.
In this example:
- Ethernet interface name on HP to Spot:
enxa0cec8b8349f - WiFi interface name on HP to RoboScout:
wls3f3
Forward ONLY the tablet's incoming traffic to Spot's payload IP.
Note:
- Tablet IP is
10.200.142.32for Cairo. Change for other Spots accordingly.- Destination IP remains
192.168.50.3for all Spots.
sudo iptables -t nat -A PREROUTING -i wls3f3 -s 10.200.142.32 -j DNAT --to-destination 192.168.50.3Masquerade the traffic leaving single_gstreamerthe Ethernet port so Spot knows how to reply
sudo iptables -t nat -A POSTROUTING -o enxa0cec8b8349f -j MASQUERADEExplicitly permit the tablet's traffic to traverse Docker's default DROP policy on the FORWARD chain.
Note: Tablet IP is
10.200.142.32for Cairo. Change for other Spots accordingly.
sudo iptables -A FORWARD -i wls3f3 -o enxa0cec8b8349f -s 10.200.142.32 -j ACCEPTNote: Tablet IP is
10.200.142.32for Cairo. Change for other Spots accordingly.
sudo iptables -A FORWARD -i enxa0cec8b8349f -o wls3f3 -d 10.200.142.32 -j ACCEPTSave configuration such that it persists upon reboot
sudo netfilter-persistent save
