Galaxea R1 Software Version_V1.1.8_Changelog

Release Notes

Product Name: Galaxea R1

Software Version: SDK V1.1.8

Ubuntu System: 20.04 LTS

ROS Version: ROS 1 Noetic

Release Date: May 7, 2025 (GMT +8)

1. Motion Control Update Items:

   a) Add the disable_torso function to the torso control r1_jointTracker. When controlling the torso speed, this function prevents torso joint control from pre-empting the control topic and avoids control conflicts.

2. Driver (HDAS) Update Items:

   a) Fix the problem of the A1 dual arms and grippers being immovable during the VR teleoperation.

3. Navigation System Update Items:

   a) Optimize the speed filter to prevent speed from fluctuating.

   b) Fix the failure feedback status issue.

Update Tutorial

Download the Update Package

atc_standard-V1.1.8.tar.gz

• Google Drive：R1 SDK V1.1.8
• Baidu Cloud: R1 SDK V1.1.8

<!-- ### Update the Embedded Firmware Upgrade all body drivers.

cd {your_download_path}/install/share/Embedded_Software_Firmware/tools/R1
bash r1_embedded_firmware_upgrade.sh ../../R1/V1_1_8
``` -->

### Extract the Package 

```Bash
tar -xf ${your_download_path}/atc_standard-V1.1.8.tar.gz -C ~/

Execute the Module

cd {your_download_path}/install/share/startup_config/script

# R1 BODY：
./robot_startup.sh boot ../session.d/ATCStandard/R1Body.d/

# R1 VR TELEOP：
./robot_startup.sh boot ../session.d/ATCStandard/R1VRTeleop.d/