Installation and Configuration

System Requirements

Component	Recommended	Support Range
Operating System	Ubuntu 22.04	Ubuntu 20.04 - 24.04
Architecture (PC)	x86_64	x86_64
Architecture (Robot)	aarch64	aarch64
Python	3.8+	3.8 - 3.14
Storage Space	16GB	3GB+

Terminology

• XCU: Base Computing Platform, responsible for low-level control and basic computation
• Orin: High-Performance Computing Platform, responsible for image processing and AI computation

---

Mode 1: Robot-Side Deployment

Use Case: Production environment deployment, applications requiring high real-time performance

Features: No network latency, minimal communication overhead

1. Connect to Robot Network

1.1 After powering on, connect to WiFi in the network selection interface

1.2 Check the robot's IP address in the Network interface

2. Deploy SDK to Robot

2.1 Execute the deployment script on PC

cd GalbotSDK
./deploy_to_robot.sh

2.2 Enter connection information as prompted

• Username: galbot
• Orin IP address: e.g., 192.168.120.180
• Password: gb@2023

Deployment Result

Dynamic library automatically installed to: /data/galbot/lib

2.3 Verify installation

ssh galbot@<Robot IP>
ls /data/galbot/lib | grep galbot_g1_sdk

Expected Output

Displays libgalbot_g1_sdk.so and libgalbot_g1_sdk.so.1.5.0

3. Install SDK on PC

Navigate to the SDK directory and execute the installation script

cd GalbotSDK
sudo ./install.sh

4. Compile Programs

4.1 Cross-compile on PC (aarch64)

cd examples/cpp/
mkdir -p build
cd build
cmake ../ -DCMAKE_TOOLCHAIN_FILE=../cmake/linux-aarch64-gcc940.cmake
make

4.2 Transfer the executable file to the robot's Orin

scp your_app galbot@<Robot IP>:/userdata

5. Run Programs

5.1 C++ Programs

ssh galbot@<Robot IP>
cd /userdata
./your_app

5.2 Python Programs

export PYTHONPATH=/data/galbot/lib:$PYTHONPATH
python your_app.py

Persist Environment Variables

echo 'export PYTHONPATH=/data/galbot/lib:$PYTHONPATH' >> ~/.bashrc
source ~/.bashrc

---

Mode 2: PC-Side Deployment

Use Case: Development and debugging, rapid iteration

Features: Convenient development, supports LAN remote control

1. Physical Connection

Connect PC and robot using an Ethernet cable

2. Network Configuration

2.1 Configure PC Network Interface IP

• IP Address: 192.168.1.99 (or other address in the same subnet)
• Subnet Mask: 255.255.255.0

2.1.1 Ubuntu

Settings path: Settings → Network → Wired Settings → IPv4 → Manual

2.1.2 WSL2

When using WSL2, create a .wslconfig file in the current Windows user profile directory and add networkingMode=Mirrored, for example:

Configure the IP address in Windows:

Verify configuration:

ifconfig

Expected Output

Displays inet 192.168.1.99

2.2 Configure PC IP Configuration File

File path: /data/config/embosa_ip_config.json

Configuration example (assuming PC: 192.168.1.99, XCU: 192.168.1.66, Orin: 192.168.1.88):

{
    "embosa_ip": {
        "local_interface": [
            "192.168.1.99"
        ],
        "peer_lists": [
            "192.168.1.66",
            "192.168.1.88"
        ]
    }
}

2.3 Configure Orin IP Configuration File

Prerequisites

You must first connect to Orin via WiFi, refer to Mode 1 Step 1

2.3.1 Login to Orin

ssh galbot@<Orin Wireless IP>
# Password: gb@2023

2.3.2 Edit configuration file

vi /data/config/embosa_ip_config.json

2.3.3 Configuration content

Important

192.168.100.88 and 192.168.100.66 are internal direct connection IPs between Orin and XCU, must be retained

{
    "embosa_ip": {
        "local_interface": [
            "192.168.100.88",
            "192.168.1.88"
        ],
        "peer_lists": [
            "192.168.100.66",
            "192.168.1.99"
        ]
    }
}

2.4 Configure XCU IP Configuration File

2.4.1 Login to XCU

ssh root@<XCU Wireless IP>
# Password: 12345678

2.4.2 Edit configuration file

vi /data/config/embosa_ip_config.json

2.4.3 Configuration content

{
    "embosa_ip": {
        "local_interface": [
            "192.168.100.66",
            "192.168.1.66"
        ],
        "peer_lists": [
            "192.168.100.88",
            "192.168.1.99"
        ]
    }
}

2.5 Verify Network Connection

Required Action

You must restart the robot after modifying the configuration

Test connection after restart:

ping 192.168.1.66  # Test XCU
ping 192.168.1.88  # Test Orin

Expected Result

Normal ping response returned

3. Install SDK on PC

Navigate to the SDK directory and execute the installation script

cd GalbotSDK
sudo ./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

---