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Galaxea R1 Software Version_V1.0.4_Changelog

Release Notes

Product Name: Galaxea R1/R1 Pro

Software Version: V1.0.4

Release Date: January 17, 2025 (GMT +8)

Update Content:

  1. Navigation Software Launches:
    a) Localization Module introduced, including global localization and odometry capabilities.
    b) Planning Module introduced, including global path search and local path planning capabilities.
    For any inquiry, please email to info@galaxea.ai or call 4008-780-980.

  2. Motion Control Update Items:
    a) Solve the low-speed following issue in Chassis Control.
    b) Introduce dynamic-following mode for Arm Control in terms of Joint-level Control.
    c) Introduce Torso linear velocity control: This command cannot run simultaneously with the joint-level control.
    d) Introduce a function to disable Torso Control for specific tests.

  3. Driver (HDAS) Update Items:
    a) R1 Pro protocol parsing introduced: roslaunch HDAS r1pro.launch, supporting A2 robot arm equipped with a dexterous hand / gripper interface.
    b) Fix the issue of CPU utilization reaching 100% when no CAN messages are received.

  4. Embedded Firmware (xCU) Update Items:
    a) Introduce a function of fan speed control in CCU(Central Control Unit).
    b) Introduce chassis control errorcode reporting in VCU(Vehicle Control Unit).

Update Instruction

  1. CAUTION: The upgrade script will automatically delete all files in /home/nvidia/work/ci_pipeline. Please ensure that all files in this directory are backed up before upgrading to avoid data loss.
  2. 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.
  3. 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 issue, please email to info@galaxea.ai or call 4008-780-980 for technical support!

Update Tutorial

Download the Update Package

Package Name: Software_V1.0.4_Release.tar.gz

Software Package Decompression

tar -xf ${your_download_path}/Software_V1.0.4_Release.tar.gz -C ~/
chmod +x ~/ota.sh
cd ~
./ota.sh

Embedded Firmware Upgrade

cd ~/work/galaxea/install/share/Embedded_Software_Firmware/tools/R1
source ~/work/galaxea/install/setup.bash
bash r1_embedded_firmware_upgrade.sh ../../firmware/R1/V1_0_4

R1_update_XCU

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

Module Launch

sudo apt-get install tmux tmuxp # skip this if installed
cd ~/work/galaxea/install/share/startup_config/script
./ota_script.sh boot # launch HDAS/motion control in different tmux windows

R1_execute_module1

R1_execute_module2