{"id":347706,"date":"2026-07-30T18:00:57","date_gmt":"2026-07-30T09:00:57","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=347706"},"modified":"2026-07-30T18:26:18","modified_gmt":"2026-07-30T09:26:18","slug":"go2_r1_nat_internet","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/unitree\/go2_r1_nat_internet.html","title":{"rendered":"\u3010Unitree Go2\/R1\u3011\u4f5c\u696d\u7528 PC \u306e Wi-Fi \u7d4c\u7531\u3067\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u3059\u308b\u624b\u9806"},"content":{"rendered":"

\u3010Unitree Go2\/R1\u3011\u4f5c\u696d\u7528 PC \u306e Wi-Fi \u7d4c\u7531\u3067\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u3059\u308b\u624b\u9806<\/h1>\n

VERSION:<\/strong> 2026.07<\/p>\n

\n

1. \u6982\u8981<\/h2>\n

Unitree Go2 R&D\u30e2\u30c7\u30eb\uff08Edu\u30e2\u30c7\u30eb\uff09\u304a\u3088\u3073 Unitree R1 R&D\u30e2\u30c7\u30eb\uff08Edu\u30e2\u30c7\u30eb\uff09\u306b\u642d\u8f09\u3055\u308c\u308b Docking Station \u3092\u5bfe\u8c61\u3068\u3057\u307e\u3059\u3002\u4ee5\u964d\u3001\u305d\u308c\u305e\u308c\u306e Docking Station \u3092\u5358\u306b\u300cGo2\u300d\u300cR1\u300d\u3068\u8868\u8a18\u3057\u307e\u3059\u3002<\/p>\n

\u672c\u624b\u9806\u3067\u306f\u3001Go2\u307e\u305f\u306fR1\u3068\u306f\u5225\u306b\u7528\u610f\u3059\u308b Windows PC \u307e\u305f\u306f Ubuntu PC \u3092\u300c\u4f5c\u696d\u7528PC\u300d\u3068\u3057\u307e\u3059\u3002\u4f5c\u696d\u7528PC\u306f\u3001Go2\u307e\u305f\u306fR1\u3068\u306f\u6709\u7ddaLAN\u3067\u63a5\u7d9a\u3057\u3001\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u3078\u306fWi-Fi\u3067\u63a5\u7d9a\u3057\u307e\u3059\u3002<\/p>\n

Go2\u304a\u3088\u3073R1\u306fDocking Station\u306bWi-Fi \u5b50\u6a5f\u3092\u642d\u8f09\u3057\u3066\u3044\u307e\u305b\u3093\u3002\u672c\u624b\u9806\u3067\u306f\u3001\u5225\u9014Wi-Fi\u5b50\u6a5f\u3092\u7528\u610f\u305b\u305a\u3001\u4f5c\u696d\u7528PC\u306eWi-Fi\u56de\u7dda\u3092\u6709\u7ddaLAN\u7d4c\u7531\u3067\u5171\u6709\u3059\u308b\u3053\u3068\u3067\u3001Go2\u307e\u305f\u306fR1\u304b\u3089\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u3078\u63a5\u7d9a\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n

\u4ee5\u964d\u306fGo2\u3092\u4f8b\u3068\u3057\u3066\u8aac\u660e\u3057\u307e\u3059\u3002
\n<\/strong>R1\u3067\u306f\u3001\u672c\u66f8\u4e2d\u306e\u300cGo2\u300d\u3092\u300cR1\u300d\u306b\u3001192.168.123.18<\/code> \u3092 192.168.123.164<\/code> \u306b\u8aad\u307f\u66ff\u3048\u3066\u304f\u3060\u3055\u3044\u3002<\/strong><\/p>\n

Go2 Docking Station  --LAN\u30b1\u30fc\u30d6\u30eb--  \u4f5c\u696d\u7528PC  --Wi-Fi--  \u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\r\n  192.168.123.18                    192.168.123.1\r\n  192.168.123.0\/24                  IP\u8ee2\u9001 \/ NAT<\/code><\/pre>\n
\u56f3 1. \u4f5c\u696d\u7528 PC \u7d4c\u7531\u306e\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u69cb\u6210<\/em><\/p>\n
\u4f5c\u696d\u7528PC\u5074\u306e\u8a2d\u5b9a\u306f\u3001Windows PC\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408\u3068Ubuntu PC\u3092\u4f7f\u7528\u3059\u308b\u5834\u5408\u3067\u7570\u306a\u308a\u307e\u3059\u3002Go2\u5074\u306e\u8a2d\u5b9a\u306f\u5171\u901a\u3067\u3059\u3002<\/p>\n
\n
2. \u524d\u63d0<\/h2>\n
\u672c\u624b\u9806\u3067\u306f\u3001\u4ee5\u4e0b\u306e IP \u30a2\u30c9\u30ec\u30b9\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002<\/p>\n
    \n
  • Go2 \u306e\u6709\u7dda LAN IP \u30a2\u30c9\u30ec\u30b9: 192.168.123.18<\/code><\/li>\n
  • \u4f5c\u696d\u7528 PC \u306e\u6709\u7dda LAN \u5074 IP \u30a2\u30c9\u30ec\u30b9: 192.168.123.1\/24<\/code><\/li>\n
  • Go2 \u3068\u4f5c\u696d\u7528 PC \u306e\u9593\u3067\u4f7f\u7528\u3059\u308b\u6709\u7dda LAN \u30cd\u30c3\u30c8\u30ef\u30fc\u30af: 192.168.123.0\/24<\/code><\/li>\n<\/ul>\n
    Go2 \u304b\u3089\u898b\u308b\u3068\u3001\u4f5c\u696d\u7528 PC \u306e\u6709\u7dda LAN \u5074 IP \u30a2\u30c9\u30ec\u30b9 192.168.123.1<\/code> \u304c\u30c7\u30d5\u30a9\u30eb\u30c8\u30b2\u30fc\u30c8\u30a6\u30a7\u30a4\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n
    \n
    3. Go2 \u3068\u4f5c\u696d\u7528 PC \u3092\u63a5\u7d9a\u3059\u308b<\/h2>\n
    Go2 \u3068\u4f5c\u696d\u7528 PC \u3092 LAN \u30b1\u30fc\u30d6\u30eb\u3067\u63a5\u7d9a\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n
    4\u30015\u7bc0\u3067\u306f\u307e\u3060SSH\u63a5\u7d9a\u3092\u884c\u3044\u307e\u305b\u3093\u304c\u3001Go2\u306b\u63a5\u7d9a\u3055\u308c\u3066\u3044\u308b\u6709\u7ddaLAN\u5074\u3092\u8b58\u5225\u3059\u308b\u305f\u3081\u3001LAN\u30b1\u30fc\u30d6\u30eb\u3092\u63a5\u7d9a\u3057\u305f\u72b6\u614b\u3067\u4f5c\u696d\u3057\u307e\u3059\u3002<\/p>\n
    \u4f5c\u696d\u7528 PC \u5074\u306f\u3001Wi-Fi \u3067\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u6e08\u307f\u306e\u72b6\u614b\u306b\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n
    \u4ee5\u964d\u306f\u3001\u4f7f\u7528\u3059\u308b\u4f5c\u696d\u7528 PC \u306b\u5408\u308f\u305b\u3066\u3001Windows PC \u5074\u307e\u305f\u306f Ubuntu PC \u5074\u306e\u8a2d\u5b9a\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n
    \n
    4. \u4f5c\u696d\u7528PC\u306b Windows PC \u3092\u4f7f\u7528\u3059\u308b\u5834\u5408<\/h2>\n
    \u672c\u624b\u9806\u306f\u3001Windows 11 Pro \u3067\u691c\u8a3c\u3057\u305f\u3082\u306e\u3067\u3042\u308a\u3001Home \u30a8\u30c7\u30a3\u30b7\u30e7\u30f3\u3084 Windows 10 \u3067\u306f\u672a\u691c\u8a3c\u3067\u3059\u3002<\/p>\n
    4.1. Windows \u5074\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30a2\u30c0\u30d7\u30bf\u540d\u3092\u78ba\u8a8d\u3059\u308b<\/h3>\n
    Windows\uff08\u4f5c\u696d\u7528 PC\uff09\u5074\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30a2\u30c0\u30d7\u30bf\u540d\u306f\u74b0\u5883\u306b\u3088\u3063\u3066\u7570\u306a\u308a\u307e\u3059\u3002\u65e5\u672c\u8a9e\u74b0\u5883\u3067\u306f\u300c\u30a4\u30fc\u30b5\u30cd\u30c3\u30c8\u300d\u3001\u82f1\u8a9e\u74b0\u5883\u3067\u306f\u300cEthernet\u300d\u306a\u3069\u3068\u8868\u793a\u3055\u308c\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
    \u7ba1\u7406\u8005\u6a29\u9650\u306e PowerShell \u3067\u6b21\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u3001Go2 \u3068 LAN \u30b1\u30fc\u30d6\u30eb\u3067\u63a5\u7d9a\u3057\u3066\u3044\u308b\u6709\u7dda LAN \u30a2\u30c0\u30d7\u30bf\u306e Name \u3068\u3001\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u3078\u63a5\u7d9a\u3057\u3066\u3044\u308b Wi-Fi \u30a2\u30c0\u30d7\u30bf\u306e Name \u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
    Get-NetAdapter<\/code><\/pre>\n
    \u4ee5\u5f8c\u306e\u4f8b\u3067\u306f\u3001\u6709\u7dda LAN \u30a2\u30c0\u30d7\u30bf\u540d\u3092 \u30a4\u30fc\u30b5\u30cd\u30c3\u30c8<\/code>\u3001Wi-Fi \u30a2\u30c0\u30d7\u30bf\u540d\u3092 Wi-Fi<\/code> \u3068\u3057\u3066\u8aac\u660e\u3057\u307e\u3059\u3002\u5b9f\u969b\u306e\u74b0\u5883\u3067\u7570\u306a\u308b\u540d\u79f0\u304c\u8868\u793a\u3055\u308c\u308b\u5834\u5408\u306f\u3001\u30b3\u30de\u30f3\u30c9\u4e2d\u306e\u540d\u79f0\u3092\u5b9f\u969b\u306e\u540d\u79f0\u306b\u8aad\u307f\u66ff\u3048\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
    4.2. Windows \u5074\u306e\u6709\u7dda LAN \u306b 192.168.123.1 \u3092\u8a2d\u5b9a\u3059\u308b<\/h3>\n
    Windows\uff08\u4f5c\u696d\u7528 PC\uff09\u5074\u306e\u6709\u7dda LAN \u306b\u3001\u4f5c\u696d\u7528 PC \u306e\u6709\u7dda LAN \u5074 IP \u30a2\u30c9\u30ec\u30b9 192.168.123.1\/24<\/code> \u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002<\/p>\n
    \u7ba1\u7406\u8005\u6a29\u9650\u306e PowerShell \u3067\u6b21\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
    New-NetIPAddress -InterfaceAlias \"\u30a4\u30fc\u30b5\u30cd\u30c3\u30c8\" -IPAddress 192.168.123.1 -PrefixLength 24<\/code><\/pre>\n
    \u8a2d\u5b9a\u3055\u308c\u305f IP \u30a2\u30c9\u30ec\u30b9\u3092\u8868\u793a\u3057\u307e\u3059\u3002<\/p>\n
    Get-NetIPAddress -InterfaceAlias \"\u30a4\u30fc\u30b5\u30cd\u30c3\u30c8\" -AddressFamily IPv4<\/code><\/pre>\n
    192.168.123.1<\/code>\u3001PrefixLength 24<\/code> \u304c\u8868\u793a\u3055\u308c\u3066\u3044\u308c\u3070\u3001\u4f5c\u696d\u7528 PC \u5074\u306e\u6709\u7dda LAN \u30a2\u30c9\u30ec\u30b9\u306f\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n
    4.3. Windows \u5074\u3067 IP \u8ee2\u9001\u3092\u6709\u52b9\u5316\u3059\u308b<\/h3>\n
    Windows\uff08\u4f5c\u696d\u7528 PC\uff09\u304c\u3001Go2 \u5074\u306e\u6709\u7dda LAN \u304b\u3089\u53d7\u3051\u53d6\u3063\u305f\u901a\u4fe1\u3092 Wi-Fi \u5074\u3078\u8ee2\u9001\u3067\u304d\u308b\u3088\u3046\u306b\u3001\u6709\u7dda LAN \u5074\u3068 Wi-Fi \u5074\u306e IP \u8ee2\u9001\u3092\u6709\u52b9\u5316\u3057\u307e\u3059\u3002<\/p>\n
    \u7ba1\u7406\u8005\u6a29\u9650\u306e PowerShell \u3067\u6b21\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n
    Set-NetIPInterface -InterfaceAlias \"\u30a4\u30fc\u30b5\u30cd\u30c3\u30c8\" -Forwarding Enabled\r\nSet-NetIPInterface -InterfaceAlias \"Wi-Fi\" -Forwarding Enabled<\/code><\/pre>\n
    4.4. Windows \u5074\u3067 NAT \u6a5f\u80fd\u3092\u78ba\u8a8d\u3057\u3001NAT \u3092\u4f5c\u6210\u3059\u308b<\/h3>\n
    Go2 \u5074\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u304b\u3089\u5916\u90e8\u3078\u51fa\u308b\u901a\u4fe1\u3092\u3001Windows\uff08\u4f5c\u696d\u7528 PC\uff09\u306e Wi-Fi \u5074\u901a\u4fe1\u3068\u3057\u3066\u5916\u3078\u51fa\u3059\u305f\u3081\u306e NAT \u3092\u4f5c\u6210\u3057\u307e\u3059\u3002\u672c\u624b\u9806\u3067\u306f\u3001\u4f5c\u6210\u3059\u308b NAT \u306e\u540d\u524d\u3092 UnitreeNat<\/code> \u3068\u3057\u307e\u3059\u3002<\/p>\n
    Windows \u306e New-NetNat<\/code> \u3092\u4f7f\u7528\u3059\u308b\u306b\u306f\u3001Windows \u5074\u3067 NAT \u6a5f\u80fd\u3092\u5229\u7528\u3067\u304d\u308b\u72b6\u614b\u306b\u306a\u3063\u3066\u3044\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u74b0\u5883\u306b\u3088\u3063\u3066\u306f\u3001Hyper-V \u95a2\u9023\u6a5f\u80fd\u304c\u7121\u52b9\u306a\u5834\u5408\u3001\u5b9f\u884c\u6642\u306b New-NetNat : \u7121\u52b9\u306a\u30af\u30e9\u30b9\u3067\u3059<\/code> \u306e\u3088\u3046\u306a\u30a8\u30e9\u30fc\u304c\u51fa\u308b\u5834\u5408\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
    \u7ba1\u7406\u8005\u6a29\u9650\u306e PowerShell \u3067\u3001Hyper-V \u306e\u72b6\u614b\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
    Get-WindowsOptionalFeature -Online -FeatureName Microsoft-Hyper-V-All<\/code><\/pre>\n
    State : Disabled<\/code> \u306e\u5834\u5408\u306f\u3001\u6b21\u306e\u30b3\u30de\u30f3\u30c9\u3067\u6709\u52b9\u5316\u3057\u307e\u3059\u3002<\/p>\n
    Enable-WindowsOptionalFeature -Online -FeatureName Microsoft-Hyper-V-All -All<\/code><\/pre>\n
    \u5b8c\u4e86\u5f8c\u3001\u6848\u5185\u306b\u5f93\u3044 Windows PC \u3092\u518d\u8d77\u52d5\u3057\u307e\u3059\u3002<\/p>\n
    \u518d\u8d77\u52d5\u5f8c\u3001\u7ba1\u7406\u8005\u6a29\u9650\u306e PowerShell \u3067\u518d\u5ea6\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
    Get-WindowsOptionalFeature -Online -FeatureName Microsoft-Hyper-V-All<\/code><\/pre>\n
    State : Enabled<\/code> \u306b\u306a\u3063\u3066\u3044\u308c\u3070\u3001\u6b21\u306e\u30b3\u30de\u30f3\u30c9\u3067 NAT \u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n
    New-NetNat -Name \"UnitreeNat\" -InternalIPInterfaceAddressPrefix \"192.168.123.0\/24\"<\/code><\/pre>\n
    \u4f5c\u6210\u3055\u308c\u305f NAT \u306e\u72b6\u614b\u3092\u8868\u793a\u3057\u307e\u3059\u3002<\/p>\n
    Get-NetNat<\/code><\/pre>\n
    Name<\/code> \u306b UnitreeNat<\/code>\u3001InternalIPInterfaceAddressPrefix<\/code> \u306b 192.168.123.0\/24<\/code> \u304c\u8868\u793a\u3055\u308c\u3066\u3044\u308c\u3070\u3001Windows \u5074\u306e\u8a2d\u5b9a\u306f\u5b8c\u4e86\u3067\u3059\u3002<\/p>\n
    \n
    5. \u4f5c\u696d\u7528PC\u306b Ubuntu PC \u3092\u4f7f\u7528\u3059\u308b\u5834\u5408<\/h2>\n
    \u4f5c\u696d\u7528 PC \u306e Ubuntu \u306f\u300122.04 LTS \/ 24.04 LTS \u3092\u60f3\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n
    5.1. Ubuntu \u5074\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u540d\u3092\u78ba\u8a8d\u3059\u308b<\/h3>\n
    \u4f5c\u696d\u7528 PC\uff08Ubuntu\uff09\u3067\u3001Go2 \u3068\u63a5\u7d9a\u3057\u3066\u3044\u308b\u6709\u7dda LAN \u5074\u3068\u3001\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u3078\u51fa\u308b Wi-Fi \u5074\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u540d\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
    ip -br addr\r\nip route get 8.8.8.8<\/code><\/pre>\n
      \n
    • ip -br addr<\/code> \u3067\u3001Go2 \u3068\u63a5\u7d9a\u3057\u3066\u3044\u308b\u6709\u7dda LAN \u5074\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u540d\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/li>\n
    • ip route get 8.8.8.8<\/code> \u3067\u3001\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u3078\u51fa\u3066\u3044\u308b Wi-Fi \u5074\u306e\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u540d\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/li>\n<\/ul>\n
      \u4ee5\u5f8c\u306e\u4f8b\u3067\u306f\u3001\u4ee5\u4e0b\u3068\u3057\u3066\u8aac\u660e\u3057\u307e\u3059\u3002<\/p>\n
        \n
      • Go2 \u3068\u63a5\u7d9a\u3059\u308b\u6709\u7dda LAN \u5074: enp1s0<\/code><\/li>\n
      • \u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u3078\u51fa\u308b Wi-Fi \u5074: wlp2s0<\/code><\/li>\n<\/ul>\n
        \u5b9f\u969b\u306e\u74b0\u5883\u3067\u306f\u3001\u8868\u793a\u3055\u308c\u305f\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u540d\u306b\u8aad\u307f\u66ff\u3048\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
        5.2. Ubuntu \u5074\u3067\u4e00\u6642\u7684\u306b\u8a2d\u5b9a\u3059\u308b\u5834\u5408<\/h3>\n
        \u4f5c\u696d\u7528 PC\uff08Ubuntu\uff09\u306e\u6709\u7dda LAN \u5074\u306b\u3001\u4f5c\u696d\u7528 PC \u306e\u6709\u7dda LAN \u5074 IP \u30a2\u30c9\u30ec\u30b9 192.168.123.1\/24<\/code> \u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002<\/p>\n
        sudo ip addr replace 192.168.123.1\/24 dev enp1s0\r\nsudo ip link set enp1s0 up<\/code><\/pre>\n
        \u4f5c\u696d\u7528 PC\uff08Ubuntu\uff09\u304c\u3001Go2 \u5074\u306e\u6709\u7dda LAN \u304b\u3089\u53d7\u3051\u53d6\u3063\u305f\u901a\u4fe1\u3092 Wi-Fi \u5074\u3078\u8ee2\u9001\u3067\u304d\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n
        sudo sysctl -w net.ipv4.ip_forward=1<\/code><\/pre>\n
        Go2 \u5074\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u304b\u3089\u5916\u90e8\u3078\u51fa\u308b\u901a\u4fe1\u3092\u3001\u4f5c\u696d\u7528 PC\uff08Ubuntu\uff09\u306e Wi-Fi \u5074\u901a\u4fe1\u3068\u3057\u3066\u5916\u3078\u51fa\u3059 NAT \u8a2d\u5b9a\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002<\/p>\n
        sudo iptables -t nat -C POSTROUTING -s 192.168.123.0\/24 -o wlp2s0 -j MASQUERADE 2>\/dev\/null || sudo iptables -t nat -A POSTROUTING -s 192.168.123.0\/24 -o wlp2s0 -j MASQUERADE<\/code><\/pre>\n
        Go2 \u5074\u304b\u3089 Wi-Fi \u5074\u3078\u51fa\u3066\u3044\u304f\u901a\u4fe1\u3092\u8a31\u53ef\u3057\u307e\u3059\u3002<\/p>\n
        sudo iptables -C FORWARD -i enp1s0 -o wlp2s0 -s 192.168.123.0\/24 -j ACCEPT 2>\/dev\/null || sudo iptables -A FORWARD -i enp1s0 -o wlp2s0 -s 192.168.123.0\/24 -j ACCEPT<\/code><\/pre>\n
        Go2 \u304b\u3089\u5916\u90e8\u3078\u51fa\u305f\u901a\u4fe1\u306e\u623b\u308a\u3092\u8a31\u53ef\u3057\u307e\u3059\u3002<\/p>\n
        sudo iptables -C FORWARD -i wlp2s0 -o enp1s0 -d 192.168.123.0\/24 -m conntrack --ctstate ESTABLISHED,RELATED -j ACCEPT 2>\/dev\/null || sudo iptables -A FORWARD -i wlp2s0 -o enp1s0 -d 192.168.123.0\/24 -m conntrack --ctstate ESTABLISHED,RELATED -j ACCEPT<\/code><\/pre>\n
        Ubuntu \u5074\u306e\u8a2d\u5b9a\u72b6\u614b\u3092\u8868\u793a\u3057\u307e\u3059\u3002<\/p>\n
        ip -4 addr show enp1s0\r\ncat \/proc\/sys\/net\/ipv4\/ip_forward\r\nsudo iptables -t nat -S\r\nsudo iptables -S FORWARD<\/code><\/pre>\n
        enp1s0<\/code> \u306b 192.168.123.1\/24<\/code> \u304c\u3042\u308a\u3001ip_forward<\/code> \u304c 1<\/code> \u3067\u3001POSTROUTING<\/code> \u306b MASQUERADE<\/code> \u304c\u8868\u793a\u3055\u308c\u3066\u3044\u308c\u3070\u3001Ubuntu \u5074\u306e\u4e00\u6642\u8a2d\u5b9a\u306f\u5b8c\u4e86\u3067\u3059\u3002<\/p>\n
        \u3053\u306e\u8a2d\u5b9a\u306f\u4e00\u6642\u8a2d\u5b9a\u3067\u3059\u3002Ubuntu PC \u3092\u518d\u8d77\u52d5\u3057\u305f\u5834\u5408\u3084\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u8a2d\u5b9a\u304c\u518d\u8aad\u307f\u8fbc\u307f\u3055\u308c\u305f\u5834\u5408\u306f\u3001\u518d\u5ea6\u8a2d\u5b9a\u304c\u5fc5\u8981\u306b\u306a\u308b\u3053\u3068\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
        5.3. Ubuntu \u5074\u306e\u8a2d\u5b9a\u3092\u6c38\u7d9a\u5316\u3059\u308b\u5834\u5408<\/h3>\n
        \u7d99\u7d9a\u3057\u3066\u540c\u3058\u69cb\u6210\u3067\u4f7f\u7528\u3059\u308b\u5834\u5408\u306f\u3001Ubuntu PC \u5074\u306e\u8a2d\u5b9a\u3092\u6c38\u7d9a\u5316\u3057\u307e\u3059\u3002<\/p>\n
        Ubuntu PC \u306e\u518d\u8d77\u52d5\u5f8c\u3082 IP \u8ee2\u9001\u304c\u6709\u52b9\u306b\u306a\u308b\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n
        echo \"net.ipv4.ip_forward=1\" | sudo tee \/etc\/sysctl.d\/99-unitree-nat.conf\r\nsudo sysctl --system<\/code><\/pre>\n
        Ubuntu \u8d77\u52d5\u6642\u306b\u3001\u6709\u7dda LAN \u5074 IP \u30a2\u30c9\u30ec\u30b9\u3001NAT\u3001\u8ee2\u9001\u8a31\u53ef\u3092\u81ea\u52d5\u3067\u8a2d\u5b9a\u3059\u308b systemd service \u3092\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n
        sudo tee \/etc\/systemd\/system\/unitree-nat.service > \/dev\/null <<'EOF'\r\n[Unit]\r\nDescription=Unitree NAT via Ubuntu PC\r\nAfter=network-online.target\r\nWants=network-online.target\r\n\r\n[Service]\r\nType=oneshot\r\nRemainAfterExit=yes\r\n\r\nExecStart=\/bin\/sh -c '\/usr\/sbin\/ip addr replace 192.168.123.1\/24 dev enp1s0'\r\nExecStart=\/bin\/sh -c '\/usr\/sbin\/ip link set enp1s0 up'\r\nExecStart=\/bin\/sh -c '\/usr\/sbin\/iptables -t nat -C POSTROUTING -s 192.168.123.0\/24 -o wlp2s0 -j MASQUERADE 2>\/dev\/null || \/usr\/sbin\/iptables -t nat -A POSTROUTING -s 192.168.123.0\/24 -o wlp2s0 -j MASQUERADE'\r\nExecStart=\/bin\/sh -c '\/usr\/sbin\/iptables -C FORWARD -i enp1s0 -o wlp2s0 -s 192.168.123.0\/24 -j ACCEPT 2>\/dev\/null || \/usr\/sbin\/iptables -A FORWARD -i enp1s0 -o wlp2s0 -s 192.168.123.0\/24 -j ACCEPT'\r\nExecStart=\/bin\/sh -c '\/usr\/sbin\/iptables -C FORWARD -i wlp2s0 -o enp1s0 -d 192.168.123.0\/24 -m conntrack --ctstate ESTABLISHED,RELATED -j ACCEPT 2>\/dev\/null || \/usr\/sbin\/iptables -A FORWARD -i wlp2s0 -o enp1s0 -d 192.168.123.0\/24 -m conntrack --ctstate ESTABLISHED,RELATED -j ACCEPT'\r\n\r\n[Install]\r\nWantedBy=multi-user.target\r\nEOF<\/code><\/pre>\n
        \u4f5c\u6210\u3057\u305f service \u3092\u6709\u52b9\u5316\u3057\u307e\u3059\u3002<\/p>\n
        sudo systemctl daemon-reload\r\nsudo systemctl enable --now unitree-nat.service<\/code><\/pre>\n
        service \u3068\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u8a2d\u5b9a\u306e\u72b6\u614b\u3092\u8868\u793a\u3057\u307e\u3059\u3002<\/p>\n
        systemctl status unitree-nat.service --no-pager\r\nip -4 addr show enp1s0\r\ncat \/proc\/sys\/net\/ipv4\/ip_forward\r\nsudo iptables -t nat -S\r\nsudo iptables -S FORWARD<\/code><\/pre>\n
        unitree-nat.service<\/code> \u304c active<\/code>\u3001enp1s0<\/code> \u306b 192.168.123.1\/24<\/code>\u3001ip_forward<\/code> \u304c 1<\/code> \u3067\u3042\u308c\u3070\u3001Ubuntu \u5074\u306e\u6c38\u7d9a\u5316\u8a2d\u5b9a\u306f\u5b8c\u4e86\u3067\u3059\u3002<\/p>\n
        \n
        6. Go2 \u5074\u306e\u8a2d\u5b9a<\/h2>\n
        \u4f5c\u696d\u7528 PC \u5074\u304c Windows \u306e\u5834\u5408\u3067\u3082 Ubuntu \u306e\u5834\u5408\u3067\u3082\u3001Go2 \u5074\u306e\u8a2d\u5b9a\u306f\u5171\u901a\u3067\u3059\u3002<\/p>\n
        \u4f5c\u696d\u7528 PC \u304b\u3089 Go2 \u306b SSH \u3057\u307e\u3059\u3002<\/p>\n
        ssh unitree@192.168.123.18<\/code><\/pre>\n
        Go2 \u5074\u306e\u6709\u7dda LAN \u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u540d\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
        ip -br addr<\/code><\/pre>\n
        \u4ee5\u5f8c\u306e\u4f8b\u3067\u306f\u3001Go2 \u5074\u306e\u6709\u7dda LAN \u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u540d\u3092 eth0<\/code> \u3068\u3057\u3066\u8aac\u660e\u3057\u307e\u3059\u3002\u5b9f\u969b\u306e\u74b0\u5883\u3067\u5225\u540d\u306e\u5834\u5408\u306f\u3001\u30b3\u30de\u30f3\u30c9\u4e2d\u306e eth0<\/code> \u3092\u5b9f\u969b\u306e\u540d\u79f0\u306b\u8aad\u307f\u66ff\u3048\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
        Go2 \u5074\u3067\u306f\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u30b2\u30fc\u30c8\u30a6\u30a7\u30a4\u3092\u4f5c\u696d\u7528 PC \u306e\u6709\u7dda LAN \u5074 IP \u30a2\u30c9\u30ec\u30b9 192.168.123.1<\/code> \u306b\u8a2d\u5b9a\u3057\u307e\u3059\u3002\u3053\u308c\u306b\u3088\u308a\u3001Go2 \u304b\u3089\u5916\u90e8\u5b9b\u3066\u306e\u901a\u4fe1\u306f\u4f5c\u696d\u7528 PC \u3078\u9001\u3089\u308c\u307e\u3059\u3002<\/p>\n
        sudo ip route replace default via 192.168.123.1 dev eth0<\/code><\/pre>\n
        Go2\u5074\u306e\u73fe\u5728\u306e\u6709\u7ddaLAN\u63a5\u7d9a\u306b\u3001DNS\u53c2\u7167\u5148\u3092\u4e00\u6642\u7684\u306b\u8a2d\u5b9a\u3057\u307e\u3059\u3002<\/p>\n
        sudo nmcli device modify eth0 ipv4.dns \"8.8.8.8 1.1.1.1\"<\/code><\/pre>\n
        <\/code><\/p>\n
        Go2 \u5074\u306e\u7d4c\u8def\u8a2d\u5b9a\u3092\u8868\u793a\u3057\u307e\u3059\u3002<\/p>\n
        ip route\r\nip route get 8.8.8.8<\/code><\/pre>\n
        8.8.8.8 via 192.168.123.1 dev eth0<\/code> \u306e\u3088\u3046\u306b\u8868\u793a\u3055\u308c\u3066\u3044\u308c\u3070\u3001Go2 \u5074\u306e\u7d4c\u8def\u8a2d\u5b9a\u306f\u3067\u304d\u3066\u3044\u307e\u3059\u3002<\/p>\n
        6.1. Go2 \u5074\u306e\u8a2d\u5b9a\u3092\u6c38\u7d9a\u5316\u3059\u308b\u5834\u5408<\/h3>\n
        \u7d99\u7d9a\u3057\u3066\u540c\u3058\u69cb\u6210\u3067\u4f7f\u7528\u3059\u308b\u5834\u5408\u306f\u3001Go2 \u5074\u306e NetworkManager \u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u307e\u3059\u3002<\/p>\n
        \u6709\u7dda LAN \u306e\u63a5\u7d9a\u540d\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
        nmcli connection show<\/code><\/pre>\n
        \u6b21\u306e\u3088\u3046\u306b\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n
        NAME UUID TYPE DEVICE\r\nWired connection 1 xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx ethernet eth0\r\ndocker0 xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx bridge docker0<\/code><\/pre>\n
        DEVICE<\/code>\u5217\u304ceth0<\/code>\u306b\u306a\u3063\u3066\u3044\u308b\u884c\u306e\u3001NAME<\/code>\u5217\u306b\u8868\u793a\u3055\u308c\u305f\u540d\u524d\u3092\u4f7f\u7528\u3057\u307e\u3059\u3002
        \u4e0a\u306e\u8868\u793a\u4f8b\u3067\u306f\u3001\u63a5\u7d9a\u540d\u306fWired connection 1<\/code>\u3067\u3059\u3002<\/p>\n
        \u4ee5\u964d\u306e\u30b3\u30de\u30f3\u30c9\u4e2d\u306eWired connection 1<\/code>\u306f\u3001\u78ba\u8a8d\u3057\u305f\u540d\u524d\u306b\u7f6e\u304d\u63db\u3048\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n
        Go2 \u306e\u6709\u7dda LAN \u306b IP \u30a2\u30c9\u30ec\u30b9\u3001\u30c7\u30d5\u30a9\u30eb\u30c8\u30b2\u30fc\u30c8\u30a6\u30a7\u30a4\u3001DNS \u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002<\/p>\n
        sudo nmcli connection modify \"Wired connection 1\" \\\r\n  ipv4.addresses 192.168.123.18\/24 \\\r\n  ipv4.gateway 192.168.123.1 \\\r\n  ipv4.dns \"8.8.8.8 1.1.1.1\" \\\r\n  ipv4.method manual \\\r\n  connection.autoconnect yes<\/code><\/pre>\n
        Go2 \u5074\u306e\u6c38\u7d9a\u8a2d\u5b9a\u3092\u8868\u793a\u3057\u307e\u3059\u3002<\/p>\n
        nmcli connection show \"Wired connection 1\" | grep -E \"ipv4.method|ipv4.addresses|ipv4.gateway|ipv4.dns|connection.autoconnect\"\r\nip route<\/code><\/pre>\n
        ipv4.addresses<\/code> \u306b 192.168.123.18\/24<\/code>\u3001ipv4.gateway<\/code> \u306b 192.168.123.1<\/code>\u3001ipv4.dns<\/code> \u306b DNS \u53c2\u7167\u5148\u304c\u8868\u793a\u3055\u308c\u3066\u3044\u308c\u3070\u3001Go2 \u5074\u306e\u6c38\u7d9a\u5316\u8a2d\u5b9a\u306f\u5b8c\u4e86\u3067\u3059\u3002<\/p>\n
        \n
        7. \u758e\u901a\u78ba\u8a8d<\/h2>\n
        \u6700\u5f8c\u306b\u3001Go2 \u5074\u3067\u5916\u90e8\u901a\u4fe1\u3092\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
        \u307e\u305a\u3001Go2 \u304b\u3089\u4f5c\u696d\u7528 PC \u306e\u6709\u7dda LAN \u5074\u3078\u901a\u4fe1\u3067\u304d\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
        ping -c 3 192.168.123.1<\/code><\/pre>\n
        \u6b21\u306b\u3001\u4f5c\u696d\u7528 PC \u7d4c\u7531\u3067\u5916\u90e8 IP \u3078\u901a\u4fe1\u3067\u304d\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
        ping -c 3 8.8.8.8<\/code><\/pre>\n
        8.8.8.8<\/code> \u304c\u901a\u308b\u5834\u5408\u3001\u4f5c\u696d\u7528 PC \u7d4c\u7531\u3067\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u3078\u51fa\u3089\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n
        \u6700\u5f8c\u306b\u3001\u30c9\u30e1\u30a4\u30f3\u540d\u3067\u5916\u90e8\u901a\u4fe1\u3067\u304d\u308b\u304b\u78ba\u8a8d\u3057\u307e\u3059\u3002<\/p>\n
        ping -c 3 github.com<\/code><\/pre>\n
        github.com<\/code> \u306b ping \u304c\u901a\u308c\u3070\u3001\u540d\u524d\u89e3\u6c7a\u3092\u542b\u3081\u305f\u5916\u90e8\u901a\u4fe1\u306f\u3067\u304d\u3066\u3044\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
        \u3010Unitree Go2\/R1\u3011\u4f5c\u696d\u7528 PC \u306e Wi-Fi \u7d4c\u7531\u3067\u30a4\u30f3\u30bf\u30fc\u30cd\u30c3\u30c8\u63a5\u7d9a\u3059\u308b\u624b\u9806 VERSION: 2026.07 1. \u6982\u8981 Unitree Go2 R&D\u30e2\u30c7\u30eb\uff08Edu\u30e2\u30c7\u30eb\uff09\u304a\u3088\u3073 Unitr …<\/p>\n","protected":false},"author":41,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[72,88,26,51],"tags":[],"class_list":["post-347706","post","type-post","status-publish","format-standard","hentry","category-go2","category-r1","category-unitree","category-unitree-tips"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/347706","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/41"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=347706"}],"version-history":[{"count":7,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/347706\/revisions"}],"predecessor-version":[{"id":347721,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/347706\/revisions\/347721"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=347706"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=347706"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=347706"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}