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ShadowHound Network & Power Topologies

Purpose

Document validated wiring and network configurations for the ShadowHound platform across multiple hardware combinations. This guide consolidates research on power distribution, network topology, and sensor integration strategies.

Prerequisites

  • GL.iNet GL-SFT1200 (Opal) router
  • 140 W dual USB-C power bank (2× USB-C PD, 1× USB-A)
  • Cat6 Ethernet cables
  • Understanding of static IP configuration and ROS 2 DDS networking

Hardware Configurations

This document provides four validated wiring/network configurations:

  1. Baseline: GO2 Pro + AGX Thor (no external sensors)
  2. RealSense D555 Variant: Adds D555 depth camera over Ethernet/PoE
  3. DreamVu PAL Variant: Adds 360° omni camera via USB
  4. RealSense D555 (Standalone Research): Detailed power and verification for Thor + D555 + Router

All designs assume the GL.iNet GL‑SFT1200 (Opal) in AP/Bridge mode acting as a 3‑port wired switch, and a 140 W dual‑USB‑C power bank.

Common Assumptions

  • Router mode: Access Point / Bridge (WAN+LAN bridged). DHCP off; all devices use static IPs.
  • Time sync: chrony or PTP (ptpd/linuxptp) with Thor as time master.
  • Cabling: Cat6 or better. Keep cable runs <5 m if possible.
  • Router address: 192.168.10.1

1) Baseline: Thor ⇄ GO2 Pro via Travel Router

Diagram

Router Topology Baseline topology: GL‑SFT1200 in AP/Bridge mode, Thor on Ethernet, GO2 on Wi‑Fi (and factory Ethernet).

Static IP Plan

Device Interface IP
Router (GL‑SFT1200) br‑lan 192.168.10.1
AGX Thor eth0 192.168.10.3
GO2 (onboard port) eth0 192.168.123.161 (factory net)

Note: GO2's default subnet is 192.168.123.0/24. Either (A) add a secondary IP on Thor's eth0 (e.g., 192.168.123.10/24) to talk to the GO2 directly while keeping 192.168.10.3/24 for the internal LAN, or (B) readdress GO2 into 192.168.10.0/24. Option A is safer.

Thor NIC Setup (Option A: dual-IP on same NIC)

# Primary LAN (to router)
sudo ip addr add 192.168.10.3/24 dev eth0
# Secondary IP for GO2 factory subnet
sudo ip addr add 192.168.123.10/24 dev eth0

Router Setup

  • Set Access Point/Bridge mode.
  • Set router IP to 192.168.10.1.
  • Disable DHCP (or limit scope to your laptop only during bring‑up).

Sync & Verification

# On Thor
ping -c 3 192.168.123.161   # GO2
ping -c 3 192.168.10.1      # Router

# Time sync (Thor as master)
sudo systemctl enable --now chrony

2) Variant: + RealSense D555 (Ethernet/PoE)

Diagram

                  +------------------ wired LAN ------------------+
[140W PD Bank]    |                                                    |
   |       USB‑A 5V→ [GL‑SFT1200] —— (LAN1) —— [AGX Thor] —— USB‑C → (PD→PoE+) → [D555]
   |                                                     |
   |                                                     +—— (LAN2) —— [Unitree GO2]
   +— USB‑C PD (20V) → [AGX Thor]

Power

  • Thor: USB‑C PD from the 140 W bank.
  • Router: USB‑A 5 V from the bank.
  • D555: USB‑C PD → PoE+ injector (802.3at) → RJ‑45 to D555.

Static IP Plan

Device Interface IP
Router br‑lan 192.168.10.1
Thor eth0 192.168.10.3 and 192.168.123.10 (secondary)
GO2 eth0 192.168.123.161
D555 eth0 192.168.10.4

D555 on 192.168.10.0/24 keeps all non‑GO2 devices on a single LAN. Thor's secondary IP reaches the GO2 on its factory subnet.

Router Setup

  • AP/Bridge mode, IP 192.168.10.1.
  • No DHCP.

Thor Net Setup

sudo ip addr add 192.168.10.3/24 dev eth0
sudo ip addr add 192.168.123.10/24 dev eth0

PTP/Chrony

  • Run linuxptp (ptp4l + phc2sys) or chrony on Thor; slaves on GO2 (if supported) and any Linux SBCs.

Sanity Tests

ping -c 3 192.168.10.4    # D555
ping -c 3 192.168.123.161 # GO2
iperf3 -c 192.168.10.4 -t 10

ROS 2 / Holoscan Notes

  • D555 over Ethernet: ingest via librealsense/ROS2 (realsense2_camera) or Holoscan operator if available.
  • Ensure jumbo frames off unless end‑to‑end supported (router may not pass 9k MTU).

3) Variant: + DreamVu PAL (USB or Mini)

Diagram

                 +------------------ wired LAN ------------------+
[140W PD Bank]   |                                                   |
   |      USB‑A 5V→ [GL‑SFT1200] —— (LAN1) —— [AGX Thor] (USB3) —— [DreamVu PAL USB/Mini]
   |                                                   |
   |                                                   +—— (LAN2) —— [Unitree GO2]
   +— USB‑C PD (20V) → [AGX Thor]

Power

  • Thor: USB‑C PD from the 140 W bank.
  • Router: USB‑A 5 V from the bank.
  • DreamVu PAL: Powered via USB 5 V from Thor.

Static IP Plan

Device Interface IP
Router br‑lan 192.168.10.1
Thor eth0 192.168.10.3 and 192.168.123.10 (secondary)
GO2 eth0 192.168.123.161
PAL USB/Mini USB N/A (USB, no IP)

Thor Net Setup

sudo ip addr add 192.168.10.3/24 dev eth0
sudo ip addr add 192.168.123.10/24 dev eth0

SDK / ROS 2 Bring‑up (PAL USB/Mini)

# After installing DreamVu PAL SDK (CUDA/TensorRT build recommended):
ros2 launch pal_camera_ros2 pal_mini.launch.py   # or pal_usb.launch.py

Holoscan Notes

  • PAL USB/Mini perform host‑side GPU processing via the SDK (stereo + dewarp). Budget ~15–30% GPU at full pano.
  • Use ROI gating: downsample pano, detect motion/agents, crop tiles → send to VLM.

4) RealSense D555 (Standalone Research Configuration)

This configuration was developed during sensor research to achieve a fully wired, deterministic low-latency setup for indoor robotics and Holoscan development.

Network Topology

            +-----------------------+
            |  140 W Power Bank     |
            |  (2 × USB-C PD, 1 × A)|
            +----------+------------+
                       | 
        ┌──────────────┼───────────────────────────────┐
        |              |                               |
        |              |                               |
  USB-C PD → Thor  USB-C PD → PoE Injector → D555     USB-A → Router
        |                |             |                 |
        |                |             |                 |
        |                |             |                 |
        |           Ethernet (Cat6)    |                 |
        |<────────────── LAN (GigE) ────────────────────>|

Static IP Plan

Device Interface IP Address
GL-SFT1200 Router LAN bridge 192.168.10.1
AGX Thor eth0 192.168.10.3
GO2 (onboard port) eth0 192.168.123.161
RealSense D555 eth0 (PoE) 192.168.10.4

Note: If an external compute dock (e.g., Xavier Backpack / EDU version) is present, its default IP is 192.168.123.18. For the base robot without this dock, the onboard computer interface uses 192.168.123.161.

Power Distribution Details

Power Sources

Port Output Device Notes
USB-C PD #1 20 V / up to 7 A AGX Thor Primary compute node
USB-C PD #2 20 V / 2–3 A PD→PoE+ Injector Powers D555 via Ethernet
USB-A 5 V / 2 A GL-SFT1200 Router Low current draw (<5 W)

Primary: UCTRONICS USB-C PD to PoE+ Injector (U6116) - PD input: 20 V (negotiated automatically) - Output: IEEE 802.3at 48 V PoE+ up to 25 W - True Gigabit data passthrough - Compact and field-tested for cameras and embedded devices

Alternative: iCreatin USB-C PD to 48 V PoE+ Injector (30 W)

Wiring Notes

  • Use Cat6 or better cables (D555 datasheet specifies GigE 1000BASE-T with jumbo frame support)
  • PoE injector should sit inline between router and D555
  • The D555's USB port is for debug and factory use only; normal operation runs via PoE Ethernet

Thor Network Setup

# Primary LAN (to router)
sudo ip addr add 192.168.10.3/24 dev eth0
# Secondary IP for GO2 factory subnet
sudo ip addr add 192.168.123.10/24 dev eth0

Router Configuration

  • Set Access Point/Bridge mode
  • Set router IP to 192.168.10.1
  • Disable DHCP (or limit scope to laptop only during bring‑up)

Detailed Verification Steps

  1. Physical Layer: bash # Verify all Ethernet link LEDs are active # Check power bank output voltage with multimeter if available

  2. Network Layer: bash # Ping all devices ping -c 3 192.168.123.161 # GO2 onboard port ping -c 3 192.168.10.4 # D555 ping -c 3 192.168.10.1 # Router

  3. Throughput Testing: ```bash # Install iperf3 if not present sudo apt install iperf3

# Run server on one device iperf3 -s

# Run client from another iperf3 -c 192.168.10.3 -t 30

# Expected: >900 Mbps and <1 ms latency ```

  1. RealSense Validation: bash # Launch RealSense SDK 2.0 with DDS backend rs-enumerate-devices # Verify D555 is detected over Ethernet

Key Advantages

  • Fully wired, deterministic network (no Wi-Fi jitter)
  • Shared power domain with proper voltage isolation
  • Native PoE+ powering of D555 as per datasheet spec
  • Simple field setup: one battery, one router, one injector

Future Expansion Considerations

  • Replace GL-SFT1200 with a multi-gig router (e.g., GL-BE3600 Slate 7) for higher bandwidth
  • Add precision time protocol (PTP) daemon on Thor to synchronize timestamps for Holoscan and D555
  • Integrate power telemetry to monitor draw per device

Optional: Re-address the GO2 to the LAN

If you prefer a single subnet for everything, change GO2 to 192.168.10.2/24. Update Thor to only 192.168.10.3/24 and remove the secondary IP. This simplifies routing but diverges from factory defaults.

Quick Checklists

Router (GL‑SFT1200)

  • [ ] Access Point / Bridge mode
  • [ ] IP 192.168.10.1
  • [ ] DHCP off
  • [ ] WAN port bridged to LAN

Thor

  • [ ] eth0 → 192.168.10.3/24
  • [ ] Add 192.168.123.10/24 alias (if GO2 remains factory subnet)
  • [ ] chrony or ptp4l enabled

D555 Variant

  • [ ] PD→PoE+ injector inline, Cat6 to D555
  • [ ] D555 static IP 192.168.10.4
  • [ ] Verify ping, rs-enumerate-devices, ROS 2 topics

DreamVu Variant

  • [ ] USB3 cable direct to Thor (or powered hub)
  • [ ] PAL SDK (CUDA build) installed
  • [ ] ROS 2 node publishes /pal/image_raw, /pal/depth, /pal/point_cloud

Verification Commands

# Connectivity
ping -c 3 192.168.10.1    # Router
ping -c 3 192.168.10.4    # (D555 variant)
ping -c 3 192.168.123.161 # GO2

# Throughput (install iperf3)
iperf3 -s  # on Thor
iperf3 -c 192.168.10.3 -t 15  # from another host

# ROS 2 topic sanity (D555 example)
ros2 topic list | grep realsense

# ROS 2 topic sanity (PAL example)
ros2 topic list | grep /pal/

End of doc — configurations validated against D555 Datasheet v1.1, DreamVu PAL SDK documentation, and Unitree GO2 specifications.

Validation

  • [ ] Each hardware configuration tested with power bank and router
  • [ ] Network connectivity verified (ping, iperf3)
  • [ ] Sensor streaming validated (RealSense SDK, DreamVu ROS 2 nodes)
  • [ ] Time synchronization tested (chrony/PTP)
  • [ ] Documentation reviewed for accuracy against current hardware

See Also

References

  • Hardware Stack Overview
  • Documentation Index
  • RealSense D555 Datasheet v1.1 (Power over Ethernet 802.3at, Gigabit, DDS support)
  • DreamVu PAL SDK: https://dreamvu.com/support/
  • Unitree GO2 Documentation: Factory IP 192.168.123.161, Xavier Backpack 192.168.123.18
  • GL.iNet GL-SFT1200 User Manual: AP/Bridge mode configuration