G1 navigation documentation fixes

docker/navigation/.env.hardware

@@ -16,6 +16,11 @@ ROS_DOMAIN_ID=42
 # Robot configuration ('mechanum_drive', 'unitree/unitree_g1', 'unitree/unitree_g1', etc)
 ROBOT_CONFIG_PATH=mechanum_drive
 
+# Robot IP address on local network for connection over WebRTC 
+# For Unitree Go2, Unitree G1, if using WebRTCConnection
+# This can be found in the unitree app under Device settings or via network scan
+ROBOT_IP=
+
 # ============================================
 # Mid-360 Lidar Configuration
 # ============================================

docker/navigation/Dockerfile

@@ -210,6 +210,11 @@ EOF\n\
         echo "Generated MID360_config.json with LIDAR_COMPUTER_IP=${LIDAR_COMPUTER_IP} and LIDAR_IP=${LIDAR_IP}"\n\
     fi\n\
     \n\
+    # Display Robot IP configuration if set\n\
+    if [ -n "${ROBOT_IP}" ]; then\n\
+        echo "Robot IP configured on local network: ${ROBOT_IP}"\n\
+    fi\n\
+    \n\
 fi\n\
 \n\
 # Execute the command\n\

docker/navigation/README.md

@@ -115,6 +115,7 @@ LIDAR_INTERFACE=eth0              # Your ethernet interface (find with: ip link
 LIDAR_COMPUTER_IP=192.168.1.5    # Computer IP on the lidar subnet
 LIDAR_GATEWAY=192.168.1.1        # Gateway IP address for the lidar subnet
 LIDAR_IP=192.168.1.116           # Full IP address of your Mid-360 lidar
+ROBOT_IP=                        # IP addres of robot on local network (if using WebRTC connection) 
 
 # Motor Controller
 MOTOR_SERIAL_DEVICE=/dev/ttyACM0  # Serial device (check with: ls /dev/ttyACM*)
@@ -136,20 +137,22 @@ docker exec -it dimos_hardware_container bash
 
 ### In the container
 
-In the container you can run any of the ROS or Python code.
+In the container to run the full navigation stack you must run both the dimensional python runfile with connection module and the navigation stack.
 
-#### ROS
+#### Dimensional Python + Connection Module
 
+For the Unitree G1 
 ```bash
-cd /ros2_ws/src/ros-navigation-autonomy-stack
-./system_real_robot_with_route_planner.sh
+dimos-robot run unitree-g1
+ROBOT_IP=XX.X.X.XXX dimos-robot run unitree-g1 # If ROBOT_IP env variable is not set in .env  
 ```
 
-### Python
-
-Demo which moves the robot 2 meters forward and 2 meters left.
+#### Navigation Stack 
 
 ```bash
-source /opt/dimos-venv/bin/activate
-python3 dimos/navigation/demo_ros_navigation.py
+cd /ros2_ws/src/ros-navigation-autonomy-stack
+./system_real_robot_with_route_planner.sh
 ```
+
+Now you can place goal points/poses in RVIZ by clicking the "Goalpoint" button. The robot will navigate to the point, running both local and global planners for dynamic obstacle avoidance. 
+

docker/navigation/docker-compose.yml

@@ -26,6 +26,7 @@ services:
       - NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:-all}
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-42}
       - ROBOT_CONFIG_PATH=${ROBOT_CONFIG_PATH:-mechanum_drive}
+      - ROBOT_IP=${ROBOT_IP:-}
       - HARDWARE_MODE=false
 
     # Volume mounts
@@ -90,6 +91,7 @@ services:
       - NVIDIA_DRIVER_CAPABILITIES=all
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-42}
       - ROBOT_CONFIG_PATH=${ROBOT_CONFIG_PATH:-mechanum_drive}
+      - ROBOT_IP=${ROBOT_IP:-}
       - HARDWARE_MODE=true
       # Mid-360 Lidar configuration
       - LIDAR_INTERFACE=${LIDAR_INTERFACE:-}

docker/navigation/start.sh

@@ -86,6 +86,14 @@ if [ "$MODE" = "hardware" ]; then
             echo "Set LIDAR_GATEWAY to the gateway IP address for the lidar subnet"
         fi
 
+        # Check for robot IP configuration
+        if [ -n "$ROBOT_IP" ]; then
+            echo -e "${GREEN}Robot IP configured: $ROBOT_IP${NC}"
+        else
+            echo -e "${YELLOW}Note: ROBOT_IP not configured in .env${NC}"
+            echo "Set ROBOT_IP if using network connection to robot"
+        fi
+
         # Check for serial devices
         echo -e "${GREEN}Checking for serial devices...${NC}"
         if [ -e "${MOTOR_SERIAL_DEVICE:-/dev/ttyACM0}" ]; then
@@ -97,15 +105,61 @@ if [ "$MODE" = "hardware" ]; then
         fi
 
         # Check network interface for lidar
-        if [ -n "$LIDAR_INTERFACE" ]; then
-            echo -e "${GREEN}Checking network interface for lidar...${NC}"
-            if ip link show "$LIDAR_INTERFACE" &>/dev/null; then
-                echo -e "  Network interface $LIDAR_INTERFACE found"
-            else
-                echo -e "${YELLOW}  Warning: Interface $LIDAR_INTERFACE not found${NC}"
-                echo -e "${YELLOW}  Available interfaces:${NC}"
-                ip link show | grep -E "^[0-9]+:" | awk '{print "    " $2}' | sed 's/:$//'
+        echo -e "${GREEN}Checking network interface for lidar...${NC}"
+
+        # Get available ethernet interfaces
+        AVAILABLE_ETH=""
+        for i in /sys/class/net/*; do
+            if [ "$(cat $i/type 2>/dev/null)" = "1" ] && [ "$i" != "/sys/class/net/lo" ]; then
+                interface=$(basename $i)
+                if [ -z "$AVAILABLE_ETH" ]; then
+                    AVAILABLE_ETH="$interface"
+                else
+                    AVAILABLE_ETH="$AVAILABLE_ETH, $interface"
+                fi
             fi
+        done
+
+        if [ -z "$LIDAR_INTERFACE" ]; then
+            # No interface configured
+            echo -e "${RED}================================================================${NC}"
+            echo -e "${RED}    ERROR: ETHERNET INTERFACE NOT CONFIGURED!${NC}"
+            echo -e "${RED}================================================================${NC}"
+            echo -e "${YELLOW}  LIDAR_INTERFACE not set in .env file${NC}"
+            echo ""
+            echo -e "${YELLOW}  Your ethernet interfaces: ${GREEN}${AVAILABLE_ETH}${NC}"
+            echo ""
+            echo -e "${YELLOW}  ACTION REQUIRED:${NC}"
+            echo -e "  1. Edit the .env file and set:"
+            echo -e "     ${GREEN}LIDAR_INTERFACE=<your_ethernet_interface>${NC}"
+            echo -e "  2. Run this script again"
+            echo -e "${RED}================================================================${NC}"
+            exit 1
+        elif ! ip link show "$LIDAR_INTERFACE" &>/dev/null; then
+            # Interface configured but doesn't exist
+            echo -e "${RED}================================================================${NC}"
+            echo -e "${RED}    ERROR: ETHERNET INTERFACE '$LIDAR_INTERFACE' NOT FOUND!${NC}"
+            echo -e "${RED}================================================================${NC}"
+            echo -e "${YELLOW}  You configured: LIDAR_INTERFACE=$LIDAR_INTERFACE${NC}"
+            echo -e "${YELLOW}  But this interface doesn't exist on your system${NC}"
+            echo ""
+            echo -e "${YELLOW}  Your ethernet interfaces: ${GREEN}${AVAILABLE_ETH}${NC}"
+            echo ""
+            echo -e "${YELLOW}  ACTION REQUIRED:${NC}"
+            echo -e "  1. Edit the .env file and change to one of your interfaces:"
+            echo -e "     ${GREEN}LIDAR_INTERFACE=<your_actual_ethernet_interface>${NC}"
+            echo -e "  2. Run this script again"
+            echo -e "${RED}================================================================${NC}"
+            exit 1
+        else
+            # Interface exists and is configured correctly
+            echo -e "  ${GREEN}✓${NC} Network interface $LIDAR_INTERFACE found"
+            echo -e "  ${GREEN}✓${NC} Will configure static IP: ${LIDAR_COMPUTER_IP}/24"
+            echo -e "  ${GREEN}✓${NC} Will set gateway: ${LIDAR_GATEWAY}"
+            echo ""
+            echo -e "${YELLOW}  Network configuration mode: Static IP (Manual)${NC}"
+            echo -e "  This will temporarily replace DHCP with static IP assignment"
+            echo -e "  Configuration reverts when container stops"
         fi
     fi
 
@@ -143,6 +197,7 @@ if docker info 2>/dev/null | grep -q nvidia; then
     fi
 else
     echo -e "${YELLOW}NVIDIA Docker runtime not found. GPU acceleration disabled.${NC}"
+    export DOCKER_RUNTIME=runc
 fi
 
 # Set container name for reference