AMRL-Wireguard-VPN-setup

Linux Machine

1. Install wireguard:

   sudo apt-get install wireguard wireguard-tools
   

2. Create a private / public key pair.

   cd /etc/wireguard
   wg genkey | tee wg-private.key | wg pubkey > wg-public.key
   

3. Send your wg public key and UT EID to Nikunj or someone from the AMRL lab (Amanda or Arthur) and get your assigned IP address.
4. Create wireguard config file /etc/wireguard/wg0.conf on your computer: IMPORTANT: DO NOT CHANGE THE CONTENTS UNDER [Peer], only edit the details under [Interface] with your assigned address and your private key

   [Interface]
   Address = <Assigned IP Address by AMRL> # e.g. 10.0.0.101/32
   PrivateKey = <WG Private Key>
   [Peer]
   PublicKey = AANZBeRHBxUGO1W6Flq63ThnlJlxT93XNuGtqiwPz1w=
   AllowedIPs = 10.0.0.0/24,10.1.0.0/16,10.2.0.0/16,10.3.0.0/16 # routes all traffic from 10.0.0.[0-255] and 10.[1-3].[0-255].[0-255].
   # Use DNS host lookups for regular clients:
   Endpoint = robofleet.csres.utexas.edu:51820
   # Use the following line instead of the above on robots, to bypass host lookups:
   # Endpoint = 128.83.143.97:51820
   PersistentKeepalive = 10
   

5. Start the wireguard interface with sudo wg-quick up wg0, or sudo wg-quick up FULL_PATH_TO_CONFIG.
6. To set wireguard to load on boot:

   sudo systemctl enable wg-quick@wg0
   

Mac Machine

1. Install wireguard:
   • Go to website for wireguard app and click “view in Mac App Store”
   • Once open in Mac store, Get, then Install
2. Create a wireguard tunnel
   • In the wireguard application, click the plus, and select "Add empty tunnel".
   • Using the private key that is automatically populated in the text box for <Private Key>, paste in the wireguard configuration found in step 4 of "Linux Machine".
   • The IP address field should be a unique (and not already used) IP address that is assigned to your computer. Get yout assigned ip by following step 3 of "Linux Machine"
3. (When using) Select your configured tunnel and click "Activate"

Windows

1. Install wireguard: Go to [website for wireguard app(https://www.wireguard.com/install/) and click on the Windows Installer
2. Create a wireguard tunnel
   • In the wireguard application, click the plus, and select "Add empty tunnel".
3. Using the private key that is automatically populated in the text box for <Private Key>, paste in the wireguard configuration found in step 4 of "Linux Machine".
4. The IP address field should be a unique (and not already used) IP address that is assigned to your computer. Get yout assigned ip by following step 3 of "Linux Machine"
5. (When using) Select your configured tunnel and click "Activate"

How to Connect to BWIBOTs?

• use ssh {username}@{IP ADDRESS OF BWIBOT}
• Example: For Dobby use: ssh bwilab@10.0.0.140