.. rubric:: G1 Webserver 

This module should come pre-installed for heavy integration projects. It should be accessible directly at 
`http://192.168.123.164:9000/ <http://192.168.123.164:9000/>`_ or the WiFi ip to which the robot is connected. 
The G1 webserver can be configured via the config file in **g1_webserver** ros2 package 
located in **/opt/mybotshop/src/mybotshop/g1_webserver/config/robot_webserver.yaml**

.. rubric:: Login

.. figure:: media/figures/web_login.png
   :width: 100%
   :align: center

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.. rubric:: Dashboard

- Enable the G1 ROS2 Services

- Disable the G1 ROS2 Services

- Record System G1 logs

.. figure:: media/figures/web_dashboard.png
   :width: 100%
   :align: center

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.. rubric:: System

- View G1 external PC system status. 

- The battery only runs if the ROS2 drivers are enabled from the dashboard

.. figure:: media/figures/web_system.png
   :width: 100%
   :align: center

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.. rubric:: Console

- Movement of the Unitree G1
- Switch between Gaits
- Adapatable to new ros2 services
- Record ROS2 bags
- Access G1 external speaker if available
- The console only works if the ROS2 drivers are enabled from the dashboard

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.. figure:: media/figures/web_console.png
   :width: 100%
   :align: center

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.. rubric:: Remote Desktop

- On-board screen of the Unitree G1's computer

.. figure:: media/figures/web_vnc.png
   :width: 100%
   :align: center

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.. rubric:: Navi Indoor

- Disabled

.. figure:: media/figures/web_nav_indoor.png
   :width: 100%
   :align: center

|

.. rubric:: Navi Outdoor

- Disabled