.. rubric:: Command Line Interface

This requires installation of the ROS2 modules on G1. If not installed, please follow the **G1 Auxiliary PC Installation** guide.

.. code:: bash

   ROS_DOMAIN_ID=10 ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=/$G1_NS/hardware/cmd_vel

.. rubric:: Steamdeck

1. Please follow the instructions carefully in here to start the G1  `Steamdeck <https://www.docs.mybotshop.de/projects/product_steamdeck/html/steamdeck_initialization.html>`_.
 
2. Connect to the custom router of the G1, it may take a few minutes on startup of the robot.

  - The IP of the steamdeck is `192.168.123.150`

  - The IP of the router is `192.168.123.100`

  - The IP of the Unitree G1 is `192.168.123.18`

3. Once the joystick is opened hold **L1** and use the **left** and **right** joystick to move the robot. 

4. The web browser will automatically open and take you to `https://192.168.123.18:9000 <https://192.168.123.18:9000>`_.

5. The drivers on G1 are off by default. You can click on restart all to start all ROS2 services enabling control via the **steamdeck+ros2**.