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Check Tool Instruction

Only for ATC SDK V2.1.3 and later version.

1. Launch Dependency Programme

Before starting the diagnosis, ensure the CAN and HDAS nodes are launched.

//ros2 open_box_check
cd {SDK_path}/install
source setup.bash
ros2 run rds_ros rds_ros_node

//ros1
cd {SDK_path}
source install/setup.bash
roslaunch rds_ros rds_check.launch

2. Select the Corresponding Product for Diagnosis

If the hardware.json file exists in the /opt/galaxea/body directory and is formatted correctly, manual selection is not required. tool_2_start_diagnosis_cn

3. Ensure CAN and HDAS Started Successfully

tool_3_can_hdas Press the Enter key.

  • If CAN startup failed: Check if the CAN cable is connected and if the CAN port program was launched.
  • If HDAS startup failed: Verify if the HDAS node is running.

4. Hardware Error Code Detection

tool_4_topic_frequency_msg

If the robot hardware error code detection printout shows no abnormalities, then the torso and chassis IMUs are error-free, and the left/right arms and torso have no errors.

Relevant Topic and corresponding information:

Information Category Contents
Topic Name /problem_diagnosis_status
Topic Type std_msgs/msg/String
Normal Message data: Robot Hardware no error
Error Message data: 'topic: topic_name_with_error, msg: specific_joint report error_code'
e.g.: data: 'topic:/hdas/feedback_status_arm_left, msg:joint7_error report ACU_ERROR_DISCONNECT;'

5. Sensor Detection

tool_5_hardware_error_code_msg

Relevant Topic and corresponding information:

Information Category Contents
Topic Name /problem_diagnosis_status
Topic Type std_msgs/msg/String
Normal Message data: Robot topic frequency is ok
Error Message data: 'topic:topic_name_with_abnormal_frequency, msg:abnormal frequency, freq: detected_frequency, range:expected_range'
e.g.: data: 'topic:/hdas/camera_head/left_raw/image_raw_color/compressed, msg:abnormal frequency, freq: 0, range:14-16'

6. R1lite/R1Pro Open Box Check

Allows checking both the folded state and the upright state. Note: The gripper must be closed during this check. tool_6_open_box_test

7. Embedded Version Number Retrieval

tool_7_version_msg

8. Tool Modules

tool_8_tool_module

8.1 Power Module

Check that the power supply's voltage, current, and remaining battery level are all within the specified ranges.

8.2 Tool Modules

  1. Left Arm Error Clear: Use this function to clear errors related to the left arm detected during Hardware Error Code Detection.
  2. Right Arm Error Clear: Use this function to clear errors related to the right arm detected during Hardware Error Code Detection.
  3. Torso Calibration: Recalibrate the zero point if the torso feedback is not at zero when the torso is in the upright state.
  4. Torso Self-Recovery: Use this function to return the torso to the upright state if it is not currently upright.