A1XY Startup and Demo Guide

1. Preparation Before Start

1.1 Hardware Preparation

Item	Quantity	Notes
A1XY Arm	1	-
A1XY Host Computer	1	OS Dependency: Ubuntu 20.04 LTS Middleware Dependency: ROS Noetic

Note: Ensure that the robot arm assembly and wiring connections are completed according to the A1XY unpacking and installation guide before proceeding to start the robot arm control as described below.

1.2 Software Preparation

1.2.1 Download the SDK

Baidu Cloud：https://pan.baidu.com/s/1jVEqjL-r_Ll7bKFB1XxKIw?pwd=a1xy
Google Drive：https://drive.google.com/drive/folders/180qSZTc7bZgwklVuwcuhq5O2DPteI2nR?usp=sharing

This is the initial software version. For future updates, refer to the A1XY Software Version Changelog to obtain the latest SDK package and update information.

1.2.2 Install the SDK

Note: The SDK file supports only the X86 architecture.

Use the following command to check if the connection is established:
```
ifconfig can0
```

Execute the following commands to install the SDK:

tar -xf ${your_download_path}/A1_XY.tar.gz -C ~/

2. Start SDK

2.1 Start the CAN Driver

Throughout the control process of the A1XY, you will need to open multiple terminals. We recommend using TMUX. Common commands include:

Create a new terminal: Press Ctrl + B then C.
Switch terminals: Press Ctrl + B then press number which indicates the number of terminal windows.

Now, you can start CAN driver in the following steps.

Start TMUX.
```
tmux
```

Start FDCAN Communication

./can.bash    

# or:
sudo ip link set dev can0 type can bitrate 1000000 dbitrate 5000000 fd on
sudo ip link set up can0

Start roscore
```
roscore    
```

Press Ctrl + B then C to create a new terminal. Then start HDAS.

source {workspace}/install/setup.bash
roslaunch HDAS A1XY.launch

2.2 Start Control

Run the following command to dump CAN bus messages.
```
candump can0
```

Press Ctrl + B then C to create a new terminal. Run the following command to enable the hardware interface and ROS interface.

source {workspace}/install/setup.bash

# Depending on the product model, select one of the following startup methods:
roslaunch mobiman a1x_jointTrackerdemo.launch
roslaunch mobiman a1y_jointTrackerdemo.launch

2.3 Demo

Note: If any errors occur, please get in touch with us for technical support immediately. If there are no issues, press Ctrl + C to close the program.

Terminate all running TMUX sessions in the background and shut down all ROS programs.

# The following commands will terminate all TMUX. 
sudo tmux kill-server
tmux kill-server
pkill -9 ros

Start FDCAN communication.

sudo ip link set can0 down
sudo ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on
sudo ip link set can0 up

Press Ctrl + B then C to create a new terminal. Then start HDAS.

cd {workspace}/install && source setup.bash
roslaunch HDAS A1XY.launch

Enter TMUX
```
tmux
```

Set up the SocketCAN interface and can0.

sudo ip link set dev can0 type can bitrate 1000000 dbitrate 5000000 fd on
sudo ip link set up can0

Start roscore.
```
roscore
```

Press Ctrl + B then C to create a new terminal. Run the following command to start joint control.

cd {workspace}/install && source setup.bash

# Depending on the product model, select one of the following startup methods:
roslaunch mobiman a1x_jointTrackerdemo.launch
roslaunch mobiman a1y_jointTrackerdemo.launch

Press Ctrl + B then C to create a new terminal. Run the following command to start demo script.
```
cd {workspace}/install && source setup.bash
rosrun mobiman test_mobiman_a1xy
```