Network Configuration

Overall Architecture

The Jueying X30 Pro is equipped with a motion host and a perception host internally, and the smart controller on the back has a built-in navigation host. The development host can connect via the wireless router or to the robot dog’s hosts. All hosts are pre-configured with relevant common software and drivers.

Motion Host

Remote Login

Users can remotely log in to the motion host via MobaXterm.

1. Connect the development host to the robot dog’s rear Ethernet port via cable, or connect via WiFi:
   • WiFi name: X30***** (check the robot dog’s serial number)
   • WiFi password: 12345678
2. Open MobaXterm and click [Start local terminal].
3. Enter ssh ysc@192.168.1.103, password is ' (English single quote).

Parameter Configuration

Users can open the /home/ysc/jy_exe/conf folder in MobaXterm’s left panel to modify configuration files. Modified parameters take effect after restarting the motion program.

motion.toml

Parameter	Description	Data Type	Value Range
load	Payload weight (kg)	Float	0.0~20.0
enable_twist	Joystick body twist toggle	Boolean	true/false
load_x	Payload CoG x-axis coordinate (m)	Float	-0.3~0.3
load_y	Payload CoG y-axis coordinate (m)	Float	-0.1~0.1
load_z	Payload CoG z-axis coordinate (m)	Float	0.0~0.3

overtime.toml [Wifi]

Parameter	Description	Data Type	Value Range
StopMotion	Time from disconnect to stop moving (seconds)	Integer	>0
KeepStill	Time from disconnect to stop stepping (seconds)	Integer	>StopMotion
Sitdown	Time from disconnect to lie down (seconds)	Integer	>KeepStill

Do not enable the joystick body twist function when the robot dog has a payload, as this may cause the robot to fall and damage the payload.

Modified parameter values must conform to the specified data types.

When adding or removing payloads, refer to Motion Parameter Configuration to modify parameters.

Navigation Host

Remote Login

Users can remotely log in to the navigation host via VNC.

Using VNC on Windows

1. Download and install MobaXterm (Installer edition) on your Windows host.
2. Connect the Windows host to the robot dog’s WiFi.
   • WiFi name: X30***** (check the robot dog’s serial number)
   • WiFi password: 12345678
3. Open CMD and enter ping 192.168.1.106 to confirm connection to the navigation host.

4. Open MobaXterm and configure VNC access:
   • Click Session
   • Select VNC
   • Enter IP: 192.168.1.106
   • Click OK
5. Click the newly created VNC session, enter the password, then access the navigation host desktop remotely.
   • IP: 192.168.1.106
   • Password: 123456

Using VNC on Ubuntu

1. Install Remmina on your Ubuntu host:

   sudo apt-get install remmina remmina-plugin-* -y

2. Connect the Ubuntu host to the robot dog’s WiFi.
   • WiFi name: X30***** (check the robot dog’s serial number)
   • WiFi password: 12345678
3. Enter remmina in the terminal to open Remmina.
4. Select VNC protocol, enter the navigation host IP, press Enter, then enter the password and click OK.

5. The remote desktop will then be visible.

Auto-start Configuration

Users can set whether the localization and navigation program auto-starts in the autorun_slam file under jy_cog/system/conf.

• If set to false: The localization and navigation program will not auto-start on boot. Users need to manually start it. Suitable for map deployment scenarios.
• If set to true: The localization and navigation program will auto-start on boot. After the user provides initial localization, the robot dog can automatically run according to the deployed map and navigation tasks.

Auto-start configuration takes effect after restarting the navigation host.