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Galaxea R1 Software Version_V2.0.0_Changelog

Release Notes

Product Name: Galaxea R1

Software Version: SDK V2.0.0

Ubuntu System: 22.04 LTS

ROS Version: ROS 2 Humble

Release Date: April 16, 2025 (GMT +8)

Update Content:

  1. The R1 Body operating system has been updated from Ubuntu 20.04 LTS to Ubuntu 22.04 LTS.
  2. The middleware dependency has been upgraded from ROS 1 Noetic to ROS 2 Humble.
  3. This migration only includes modules related to the R1 Body, and the supported functionalities are consistent with the R1 ROS 1 Noetic SDK V1.1.4. For teleoperation, navigation and other functionalities in ROS 2 Humble system are currently under migration. Stay tuned for updates!

Update Instruction

  1. During the upgrade process, do not interrupt the system operation or perform any control actions, as this may cause the upgrade to fail and affect normal system operation.
  2. After the upgrade is complete, power off the R1 system and then power it back on to ensure the update is fully applied.

Please follow the tutorial below to complete this system update. If you encounter any issues, contact us at support@galaxea.ai for technical support!

Update Tutorial

Download the Update Package

atc_standard-V2.0.0.tar.gz

Extract the Package

tar -xf ${your_download_path}/atc_standard-V2.0.0.tar.gz -C ~/
cd ~/
find ./install -name "*.sh" -exec sudo chmod +x {} \;

Start CAN Driver

# Terminal 1
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

Update Embedded Firmware

# Terminal 2
cd ~/ && source install/setup.bash
cd ~/install/Embedded_Software_Firmware/share/tools/R1
sudo chmod +x r1_embedded_firmware_upgrade.sh
./r1_embedded_firmware_upgrade.sh ../../firmware/R1/V1_1_0

Wait a moment until "GET OTA finished!!" appears.

sdk_ros2_xcu_cn

After completing the update, power off the R1 and then power it back on.

Execute the Module

sudo apt install tmux tmuxp
cd ~/install/startup_config/share/startup_config/script
./robot_startup.sh boot ../sessions.d/ATCStandard/R1Body.d

sdk_ros2_execute