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Galaxea R1 Software Version_V2.0.3_Changelog

Release Notes

Product Name: Galaxea R1

Ubuntu System: 22.04 LTS

ROS Version: ROS 2 Humble

Release Date: May 12, 2025 (GMT +8)

Update Content:

  1. Motion Control Update Items:

    a) Add unboxing demo script.

    b) Optimize the torso speed control.

  2. Driver (HDAS) Update Items:

    a) Optimize the chassis speed control.

  3. Teleoperation Update Items:

    a) Optimize the chassis speed control.

  4. Navigation System Update Items:

    a) Optimize the logic for obtaining tf during local map updates;

    b) Optimize the storage of real-machine navigation logs;

    c) Optimize the loading of parameter file paths.

  5. Tool Module Updates:

    a) Add system-manager state machine log file storage service.

  6. Other Content Updates:

    a) Added ROS2 upgrade flashing procedures and related software resources. See the ROS2 Upgrade Guide.

    b) Enabled default configurations: eth1 default IP is 192.168.2.150 for automatic radar connection; can0 node starts automatically on boot, and the robot will bring up the can0 virtual network card upon startup.

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 robot 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-V2.0.3.tar.gz

Extract the Package

tar -xf ${your_download_path}/atc_standard-V2.0.3.tar.gz -C ~/

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
cd R1
./r1_embedded_firmware_upgrade.sh ls ../../firmware/R1

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

sdk_ros2_xcu

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

Execute the ATC Module

In atc_standard-V2.0.3.tar.gz:

cd install/startup_config/share/startup_config/script/

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

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

In atc_standard-V2.0.3.tar.gz:

cd install/startup_config/share/startup_config/script/

# R1 NAVIGATION:
./robot_startup.sh boot ../sessions.d/ATCNavigation/R1VRTeleopNAV.d/

sdk_ros2_execute

Terminate the ATC Module

# To terminate all process initiated by the aforemenioned operations:
tmux kill-server