From 3454ea25b057ae969a0290470cf2b4dc546035d2 Mon Sep 17 00:00:00 2001
From: UMDLoop Jetson Orin NX <umdloop@gmail.com>
Date: Sat, 9 May 2026 09:03:34 -0400
Subject: [PATCH 1/2] give_jetson_internet_framework.sh

---
 .../scripts/give_jetson_internet_framework.sh | 22 +++++++++++++++++++
 1 file changed, 22 insertions(+)
 create mode 100755 src/tools/scripts/give_jetson_internet_framework.sh

diff --git a/src/tools/scripts/give_jetson_internet_framework.sh b/src/tools/scripts/give_jetson_internet_framework.sh
new file mode 100755
index 00000000..8ab18f15
--- /dev/null
+++ b/src/tools/scripts/give_jetson_internet_framework.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+set -e
+
+INET_IF="wlp5s0"
+JETSON_IF="enx9cbf0d007947"
+
+sudo sysctl -w net.ipv4.ip_forward=1
+
+if ! grep -q '^net.ipv4.ip_forward=1$' /etc/sysctl.conf; then
+  echo "net.ipv4.ip_forward=1" | sudo tee -a /etc/sysctl.conf
+fi
+
+sudo iptables -t nat -C POSTROUTING -o "$INET_IF" -j MASQUERADE 2>/dev/null || \
+sudo iptables -t nat -A POSTROUTING -o "$INET_IF" -j MASQUERADE
+
+sudo iptables -C FORWARD -i "$JETSON_IF" -o "$INET_IF" -j ACCEPT 2>/dev/null || \
+sudo iptables -A FORWARD -i "$JETSON_IF" -o "$INET_IF" -j ACCEPT
+
+sudo iptables -C FORWARD -i "$INET_IF" -o "$JETSON_IF" -m conntrack --ctstate RELATED,ESTABLISHED -j ACCEPT 2>/dev/null || \
+sudo iptables -A FORWARD -i "$INET_IF" -o "$JETSON_IF" -m conntrack --ctstate RELATED,ESTABLISHED -j ACCEPT
+
+echo "Done. IP forwarding and NAT are configured."

From 36fb3f9c705dac3940828e0eaeb9a0bbde91fecb Mon Sep 17 00:00:00 2001
From: UMDLoop Jetson Orin NX <umdloop@gmail.com>
Date: Sat, 9 May 2026 18:07:34 -0400
Subject: [PATCH 2/2] latest fixes from drive

---
 .../drive/drive.odrive.ros2_control.xacro          |  2 +-
 .../drive/drive.rmd.ros2_control.xacro             | 14 +++++++-------
 .../ros_odrive/odrive_node/src/odrive_can_node.cpp |  2 +-
 .../src/odrive_hardware_interface.cpp              |  2 +-
 .../umdloop_can_library/src/SocketCanBus.cpp       |  2 +-
 5 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro b/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
index e584d59e..2551097d 100644
--- a/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
+++ b/src/description/ros2_control/drive/drive.odrive.ros2_control.xacro
@@ -6,7 +6,7 @@
     <ros2_control name="${name}" type="system">
       <hardware>
         <plugin>odrive_ros2_control_plugin/ODriveHardwareInterface</plugin>
-        <param name="can">can0</param>
+        <param name="can">can1</param>
       </hardware>
 
       <joint name="steer_bl_joint">
diff --git a/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro b/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
index 3bdd541d..9b2a21bf 100644
--- a/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
+++ b/src/description/ros2_control/drive/drive.rmd.ros2_control.xacro
@@ -7,11 +7,11 @@
         <param name="update_rate">30</param> <!-- Hz -->
         <param name="logger_rate">5</param> <!-- Hz -->
         <param name="logger_state">0</param> <!-- 0 for off, 1 for on -->
-        <param name="can_interface">can0</param>
+        <param name="can_interface">can1</param>
       </hardware>
 
       <joint name="propulsion_fl_joint">
-        <param name="node_id">0x142</param>
+        <param name="node_id">0x14A</param>
         <param name="gear_ratio">1</param>
         <param name="joint_orientation">-1.0</param>
         <param name="operating_velocity">150</param> <!-- motor dps -->
@@ -24,7 +24,7 @@
       </joint>
       
       <joint name="propulsion_fr_joint">
-        <param name="node_id">0x145</param>
+        <param name="node_id">0x141</param>
         <param name="gear_ratio">1</param>
         <param name="joint_orientation">1.0</param>
         <param name="operating_velocity">150</param> <!-- motor dps -->
@@ -37,9 +37,9 @@
       </joint>
 
       <joint name="propulsion_bl_joint">
-        <param name="node_id">0x144</param>
+        <param name="node_id">0x15E</param>
         <param name="gear_ratio">1</param>
-        <param name="joint_orientation">-1.0</param>
+        <param name="joint_orientation">1.0</param>
         <param name="operating_velocity">150</param> <!-- motor dps -->
         <command_interface name="position"/>
         <command_interface name="velocity"/>
@@ -50,9 +50,9 @@
       </joint>
       
       <joint name="propulsion_br_joint">
-        <param name="node_id">0x141</param>
+        <param name="node_id">0x159</param>
         <param name="gear_ratio">1</param>
-        <param name="joint_orientation">1.0</param>
+        <param name="joint_orientation">-1.0</param>
         <param name="operating_velocity">150</param> <!-- motor dps -->
         <command_interface name="position"/>
         <command_interface name="velocity"/>
diff --git a/src/hardware_interfaces/ros_odrive/odrive_node/src/odrive_can_node.cpp b/src/hardware_interfaces/ros_odrive/odrive_node/src/odrive_can_node.cpp
index eaa85708..b27d8535 100644
--- a/src/hardware_interfaces/ros_odrive/odrive_node/src/odrive_can_node.cpp
+++ b/src/hardware_interfaces/ros_odrive/odrive_node/src/odrive_can_node.cpp
@@ -30,7 +30,7 @@ enum ControlMode : uint64_t {
 
 ODriveCanNode::ODriveCanNode(const std::string& node_name) : rclcpp::Node(node_name) {
     
-    rclcpp::Node::declare_parameter<std::string>("interface", "can0");
+    rclcpp::Node::declare_parameter<std::string>("interface", "can1");
     rclcpp::Node::declare_parameter<uint16_t>("node_id", 0);
     rclcpp::Node::declare_parameter<bool>("axis_idle_on_shutdown", false);
 
diff --git a/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp b/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp
index b7bd4cf0..d19a19c7 100644
--- a/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp
+++ b/src/hardware_interfaces/ros_odrive/odrive_ros2_control/src/odrive_hardware_interface.cpp
@@ -116,7 +116,7 @@ CallbackReturn ODriveHardwareInterface::on_init(const hardware_interface::Hardwa
         return CallbackReturn::ERROR;
     }
 
-    can_intf_name_ = info_.hardware_parameters["can"];
+    can_intf_name_ = "can1";
 
     for (auto& joint : info_.joints) {
         axes_.emplace_back(&can_intf_, std::stoi(joint.parameters.at("node_id")), std::stoi(joint.parameters.at("gear_ratio")));
diff --git a/src/infrastructure/umdloop_can_library/src/SocketCanBus.cpp b/src/infrastructure/umdloop_can_library/src/SocketCanBus.cpp
index 0b153200..15755d6a 100644
--- a/src/infrastructure/umdloop_can_library/src/SocketCanBus.cpp
+++ b/src/infrastructure/umdloop_can_library/src/SocketCanBus.cpp
@@ -205,4 +205,4 @@ void SocketCanBus::receiveLoop_() {
     }
 }
 
-} // namespace CANLib
\ No newline at end of file
+} // namespace CANLib