[jsk_unitree_startup/cross] Install iptables.ipv4.nat to passthrough …

…packets via LTE and wlan2

jsk_unitree_robot/cross/install.sh

@@ -120,6 +120,7 @@ function copy_data () {
         if [[ "${hostname}" == "192.168.123.161" ]]; then
             sshpass -p $PASS ssh -t ${user}@${hostname} "source /opt/jsk/User/user_setup.bash; sudo cp -f \$(rospack find jsk_unitree_startup)/config/dhcpcd.conf /etc/dhcpcd.conf"
             sshpass -p $PASS ssh -t ${user}@${hostname} "source /opt/jsk/User/user_setup.bash; sudo cp -f \$(rospack find jsk_unitree_startup)/config/sysctl.conf /etc/sysctl.conf"
+            sshpass -p $PASS ssh -t ${user}@${hostname} "source /opt/jsk/User/user_setup.bash; sudo cp -f \$(rospack find jsk_unitree_startup)/config/iptables.ipv4.nat /etc/iptables.ipv4.nat"
             sshpass -p $PASS ssh -t ${user}@${hostname} "sudo systemctl restart dhcpcd"
         fi
     fi

jsk_unitree_robot/jsk_unitree_startup/config/iptables.ipv4.nat

@@ -0,0 +1,38 @@
+# Generated by xtables-save v1.8.2 on Tue Apr 26 15:11:12 2022
+*filter
+:INPUT ACCEPT [248560:31230459]
+:FORWARD ACCEPT [107:13046]
+:OUTPUT ACCEPT [979900:329384767]
+-A INPUT -m state --state RELATED,ESTABLISHED -j ACCEPT
+-A FORWARD -m state --state RELATED,ESTABLISHED -j ACCEPT
+# Passthrough packets via LTE module.
+-A FORWARD -i usb0 -o eth0 -m state --state RELATED,ESTABLISHED -j ACCEPT
+-A FORWARD -o usb0 -i eth0 -m state --state RELATED,ESTABLISHED -j ACCEPT
+-A FORWARD -i usb0 -o wlan1 -m state --state RELATED,ESTABLISHED -j ACCEPT
+-A FORWARD -i wlan1 -o usb0 -m state --state RELATED,ESTABLISHED -j ACCEPT
+# Passthrough packets via wlan2 (for sparky)
+-A FORWARD -i wlan2 -o eth0 -m state --state RELATED,ESTABLISHED -j ACCEPT
+-A FORWARD -o wlan2 -i eth0 -m state --state RELATED,ESTABLISHED -j ACCEPT
+-A FORWARD -i wlan2 -o wlan1 -m state --state RELATED,ESTABLISHED -j ACCEPT
+-A FORWARD -i wlan1 -o wlan2 -m state --state RELATED,ESTABLISHED -j ACCEPT
+COMMIT
+# Completed on Tue Apr 26 15:11:12 2022
+# Generated by xtables-save v1.8.2 on Tue Apr 26 15:11:12 2022
+*nat
+:PREROUTING ACCEPT [276:28555]
+:INPUT ACCEPT [165:13454]
+:POSTROUTING ACCEPT [355:25705]
+:OUTPUT ACCEPT [414:29614]
+-A POSTROUTING -o wlan2 -j MASQUERADE
+-A POSTROUTING -o usb0 -j MASQUERADE
+COMMIT
+# Completed on Tue Apr 26 15:11:12 2022
+# Generated by xtables-save v1.8.2 on Tue Apr 26 15:11:12 2022
+*mangle
+:PREROUTING ACCEPT [1265282:660359078]
+:INPUT ACCEPT [1262670:659548895]
+:FORWARD ACCEPT [2562:800616]
+:OUTPUT ACCEPT [979900:329384767]
+:POSTROUTING ACCEPT [982534:330195437]
+COMMIT
+# Completed on Tue Apr 26 15:11:12 2022