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Galaxea ATC ROS2 SDK - V2.1.3 - Changelog

Update Description

Software Version: V2.1.3

Ubuntu System: 22.04 LTS

ROS Version: ROS 2 Humble

Release Date: 2025.8.20

Version Content Updates

1. System and Environment Dependency Updates

  1. Added functionality to write wrist camera serial numbers into the configuration file. Note: It is necessary to use foxglove or rviz2 to check if the left and right wrist camera serial numbers are reversed, which could cause the left and right wrist camera images to be associated with the wrong topics.
  2. Added R1 Lite ROS2 image burning documentation Note: Before using the ROS2 version, the embedded firmware must be updated first.
  3. Optimized wrist camera environment dependencies.

2. ATC - HDAS Driver Content Updates

  1. Added emergency stop and post-error handling functionality for the R1 Pro robotic arm A2.
  2. Added error code reporting functionality for the R1 Pro omnidirectional steering wheel module.
  3. Optimized torso IMU data reporting functionality for the R1 Pro.
  4. Optimized the fan noise issue of the R1 Pro chassis.
  5. Optimized the occasional tremor issue of the R1 Pro robotic arm A2.
  6. Added A1X control mode reporting and support for switching control modes (MIT, PID).
  7. Added underlying BRS support for A1X and improved data field transmission rate.
  8. Optimized A1X startup to monitor the current control mode of the robotic arm, eliminating the need for motor control mode switching, while simultaneously loading the corresponding tff coefficients.

3. ATC - Motion Control Content Updates

  1. Migrated R1 Lite to the ROS2 version and optimized adaptation for torso velocity control.
  2. Optimized the R1 Lite URDF file by adding wrist camera D405 and head camera.

  3. Migrated A1X to the ROS2 version, adding interfaces:

    A1X single-arm: JointTracker, eePose, gripperControl, relaxed_ik

    A1X dual-arm: JointTracker gripperControl

    Note: Before using the ROS2 version, the embedded firmware must be updated first. 4. Added A1X unboxing script.

4. ATC - Teleoperation Content Updates

  1. Added R1 Pro VR teleoperation torso tracking functionality (disabled by default).
  2. Migrated R1 Lite-T isomorphic teleoperation to the ROS2 version, including dual-arm teleoperation, chassis teleoperation, torso teleoperation, gripper teleoperation, and data_collection.
  3. Optimized the Bluetooth controller name matching mechanism in the R1 Lite-T ROS2 version.
  4. Migrated A1X-T isomorphic teleoperation to the ROS2 version.

5. Camera Content Updates

  1. Camera interface change: Updated the RGB topic output of the R1 Pro and R1 Lite wrist camera D405 to /hdas/camera_wrist_left/color/image_rect_raw/compressed(distortion removed).
  2. Updated the wrist camera startup method for R1 Pro and R1 Lite (requires updatingstartup_config). 
    #LITE
ros2 launch realsense2_camera rs_multi_camera_3.0_launch.py

#PRO
ros2 launch realsense2_camera rs_multi_camera_2.0_launch.py
  3. Migrated the entire R1 Lite camera system to ROS2; no manual installation is required as it is already included in the image.

6. Diagnostic System Content Updates

  1. Added detection for R1 Lite IMU linear acceleration values in the x and y axes, with the valid range set to [-0.1, 0.1].
  2. Added R1 Lite ROS2 unboxing detection, real-time detection, and topic output.
  3. Optimized the startup method for R1 Lite and R1 Lite-T; the startup type will be written to /tmp/start_type.logafter launch.

7. The Other Dependency Software Changes

1.Updated the wrist camera environment dependency librealsense.tar.gz. 

sudo apt install ros-humble-image-transport ros-humble-compressed-depth-image-transport
sudo apt install ros-humble-image-transport-plugins ros-humble-compressed-image-transport
tar -xf librealsense.tar.gz
cd librealsense

# Installation method for R1 Lite's NUC
bash install_x86.bash

# Installation method for R1 Pro
bash install_jetpack.bash
Alternatively: 
sudo apt install ros-humble-image-transport ros-humble-compressed-depth-image-transport
sudo apt install ros-humble-image-transport-plugins ros-humble-compressed-image-transport
git clone https://cnb.cool/galaxea.ai/data_foundation/librealsense.git

# Installation method for R1 Lite's NUC
bash install_x86.bash

# Installation method for R1 Pro
bash install_jetpack.bash
2. Updated the RealSense serial number reading method during startup. The new startup method reads the serial numbers from /opt/galaxea/sensor/realsense/RS_LEFT and /opt/galaxea/sensor/realsense/RS_RIGHT in the startup_config script. 
rs-enumerate-devices -s
mkdir -p /opt/galaxea/sensor/realsense
echo "'250122074457'" > /opt/galaxea/sensor/realsense/RS_LEFT
echo "'310522072153'" > /opt/galaxea/sensor/realsense/RS_RIGHT

Update Precautions

  1. During the upgrade process, do not interrupt the system operation or perform any control operations, as this may cause the upgrade to fail and affect normal system usage.

  2. After the upgrade is complete, please power off the robot and perform a power-on operation again to ensure the system update takes full effect.

Please strictly follow the instructions below to complete this system update. If you encounter any issues, please contact us at support@galaxea.aifor technical support!

Update Tutorial

Download the SDK

SDK download link (Google Drive): ATC-V2.1.3

The Navigation function package is an additional paid feature. For details, please contact our sales representative!

Extract the Update Package

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

Launch Methods

ATC STANDARD(ARM64)

Applicable to R1 Pro/R1

cd install/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/
# R1PRO BODY：
./robot_startup.sh boot ../session.d/ATCStandard/R1PROBody.d/
# R1PRO VRTELEOP：
./robot_startup.sh boot ../session.d/ATCStandard/R1PROVRTeleop.d/


# Isomorphic related
# R1IsomorphicTeleop：//for R1 corresponding to R1T
./robot_startup.sh boot ../session.d/ATCStandard/R1IsomorphicTeleop.d/
# R1PROIsomorphicTeleop.d：//for R1PRO corresponding to R1PROT
./robot_startup.sh boot ../session.d/ATCStandard/R1PROIsomorphicTeleop.d/

ATC STANDARD(x86_64)

Applicable to R1 Lite

cd install/share/startup_config/script/
R1LITEBody：
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEBody.d/
R1LITEVRTeleop：
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEVRTeleop.d/

ATC Arm(x86_64)

Applicable to A1X/A1Y

ATC Navigation(ARM64)

Applicable to R1 Pro/R1 Navigation Function

cd install/share/startup_config/script/
R1 NAV：
./robot_startup.sh boot ../session.d/ATCNavigation/R1VRTeleopNAV.d/
R1PRO NAV：
./robot_startup.sh boot ../session.d/ATCNavigation/R1PROVRTeleopNAV.d/

ATC System(ARM64)

Applicable to R1 Pro/R1 System Functions 

cd install/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCSystem/R1PROATC.d/