Galaxea R1 Software Guide

Software Dependency

Ubuntu 20.04 LTS
ROS Noetic

Installation

The SDK does not require recompilation. Please refer to the contents below.

First Move

Visit the page R1_Demo and get started to operate R1 following the instructions.

Software Interface

In this chapter, we describe the various control and status feedback interfaces for Galaxea R1, to help users better understand how to communicate and control the arm through the ROS package.

Driver Interface

The current Galaxea R1 driver is mainly composed of three parts, including four independent ROS nodes: the drivers of the chassis, the left and right arms, and the torso. The interfaces provided by these drivers are in the form of ROS topics, as described below.

Please type the following command to launch the corresponding driver:

Chassis, Arms, Torso, IMU, BMS, Remote Controller
```
roslaunch HDAS hdas.launch
```

Chassis Camera

sudo chmod 777 /dev/ttyTHS1
roslaunch signal_camera signal_camera.launch

Wrist Camera

roslaunch realsense_camera rs_multiple_devices.launch

LiDAR

roslaunch livox_ros_driver2 msg_MID360.launch

Chassis Driver Interface

This interface is used for the chassis status feedback ROS package. The package defines multiple topics for posting the status of multiple motors in the chassis. The following are detailed descriptions of each topic and its related message types:

Topic Name	Description	Message Type
/hdas/feedback_chassis	Feedback of chassis	sensor_msgs::JointState
/hdas/feedback_status_chassis	Status of chassis	hdas_msg::feedback_status
/motion_control/control_chassis	Motor control of chassis	hdas_msg::motor_control

Topic Name	Field	Description
/hdas/feedback_chassis	header	Standard header
	position	[angle_front_left, angle_front_right, angle_rear]
	velocity	[linear_velocity_front_left, linear_velocity_front_right, linear_velocity_rear 0.0, 0.0, 0.0]
	effort	[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
hdas/feedback_status_arm_right	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/motion_control/control_chassis	header	Standard header
	name	-
	p_des	[angle_front_left, angle_front_right, angle_rear]
	v_des	[linear_velocity_front_left, linear_velocity_front_right, linear_velocity_rear]
	kp	-
	kd	-
	t_ff	-
	mode	-

Arms Driver Interface

This interface is used for robot arm control and status feedback ROS package. The package defines multiple topics for publishing and subscribing to the status of the robot arm, control commands, and associated error code information. The following are detailed descriptions of each topic and its related message types:

Topic Name	Description	Message Type
/hdas/feedback_arm_left	Joint feedback of left arm	sensor_msgs::JointState
/hdas/feedback_arm_right	Joint feedback of right arm	sensor_msgs::JointState
/hdas/feedback_gripper_left	Gripper stroke of left gripper	sensor_msgs::JointState
/hdas/feedback_gripper_right	Gripper stroke of right gripper	sensor_msgs::JointState
/hdas/feedback_status_arm_left	Status of left arm	hdas_msg::feedback_status
/hdas/feedback_status_arm_right	Status of right arm	hdas_msg::feedback_status
/hdas/feedback_status_gripper_left	Status of left gripper	hdas_msg::feedback_status
/hdas/feedback_status_gripper_right	Status of right gripper	hdas_msg::feedback_status
/motion_control/control_arm_left	Motor control of left arm	hdas_msg::motor_control
/motion_control/control_arm_right	Motor control of right arm	hdas_msg::motor_control
/motion_control/control_gripper_left	Motor control of left gripper	hdas_msg::motor_control
/motion_control/control_gripper_right	Motor control of right gripper	hdas_msg::motor_control
/motion_control/position_control_gripper_left	Position control of left gripper	std_msgs::Float32
/motion_control/position_control_gripper_right	Position control of right gripper	std_msgs::Float32

Topic Name	Field	Description
/hdas/feedback_arm_left	header	Standard header
	position	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, gripper_position]
	velocity	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, gripper_velocity]
	effort	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, gripper_effort]
/hdas/feedback_arm_right	header	Standard header
	position	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, gripper_position]
	velocity	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, gripper_velocity]
	effort	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, gripper_effort]
/hdas/feedback_gripper_left	header	Standard header
	position	[gripper_stroke]
	velocity	Not used
	effort	Not used
/hdas/feedback_gripper_right	header	Standard header
	position	[gripper_stroke]
	velocity	Not used
	effort	Not used
/hdas/feedback_status_arm_left	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/hdas/feedback_status_arm_right	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/hdas/feedback_status_gripper_left	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/hdas/feedback_status_gripper_right	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/motion_control/control_arm_left	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position]
	v_des	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity]
	kp	[Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp, Joint5_kp, Joint6_kp]
	kd	[Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd, Joint5_kd, Joint6_kd]
	t_ff	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort]
	mode	-
/motion_control/control_arm_right	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position]
	v_des	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity]
	kp	[Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp, Joint5_kp, Joint6_kp]
	kd	[Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd, Joint5_kd, Joint6_kd]
	t_ff	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort]
	mode	-
/motion_control/control_gripper_left	header	Standard header
	name	-
	p_des	[gripper_position]
	v_des	[gripper_velocity]
	kp	[gripper_kp]
	kd	[gripper_kd]
	t_ff	[gripper_effort]
	mode	-
/motion_control/control_gripper_right	header	Standard header
	name	-
	p_des	[gripper_position]
	v_des	[gripper_velocity]
	kp	[gripper_kp]
	kd	[gripper_kd]
	t_ff	[gripper_effort]
	mode	-
/motion_control/position_control_gripper_left	header	Standard header
/motion_control/position_control_gripper_left	data	desired_gripper_stroke, range (0 to 100) mm
/motion_control/position_control_gripper_right	header	Standard header
/motion_control/position_control_gripper_right	data	desired_gripper_stroke, range (0 to 100) mm

Torso Driver Interface

This interface is used for torso control and status feedback ROS package. The package defines multiple topics for publishing and subscribing to the status of torso motors and control commands. The following are detailed descriptions of each topic and its related message types:

Topic Name	">Description	">Message Type
/hdas/feedback_torso	Joint feedback of torso	sensor_msgs/JointState
/hdas/feedback_status_torso	Torso motor status feedback	hdas_msg::feedback_status
/motion_control/control_torso	Motor control of torso	hdas_msg::motor_control

Topic Name	">Field	">Description
/hdas/feedback_torso	header	Standard header
	position	[joint1_position, joint2_position, joint3_position, joint4_position]
	velocity	[joint1_velocity, joint2_velocity, joint3_velocity, joint4_velocity]
	effort	Not used
/hdas/feedback_status_arm_left	header	Standard header
	name_id	Joint name
	errors	Contains error code and error description
/motion_control/control_arm_left	header	Standard header
	name	-
	p_des	[Joint1_position, Joint2_position, Joint3_position, Joint4_position]
	v_des	[Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity]
	kp	[Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp]
	kd	[Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd]
	t_ff	[Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort]
	mode	-

Camera Interface

Topic Name	Description	Message Type
/hdas/camera_chassis_front_left/rgb/compressed	Compressed Image from front_left chassis camera	sensor_msgs::CompressedImage
/hdas/camera_chassis_front_right/rgb/compressed	Compressed Image from front_right chassis camera	sensor_msgs::CompressedImage
/hdas/camera_chassis_left/rgb/compressed	Compressed Image from left chassis camera	sensor_msgs::CompressedImage
/hdas/camera_chassis_right/rgb/compressed	Compressed Image from right chassis camera	sensor_msgs::CompressedImage
/hdas/camera_chassis_rear/rgb/compressed	Compressed Image from rear chassis camera	sensor_msgs::CompressedImage
/hdas/camera_wrist_left/color/image_raw/compressed	Compressed Image from left wrist camera	sensor_msgs::CompressedImage
/hdas/camera_wrist_right/color/image_raw/compressed	Compressed Image from right wrist camera	sensor_msgs::CompressedImage
/hdas/camera_head/left_raw/image_raw_color/compressed	Compressed Image from head camera	sensor_msgs::CompressedImage
/hdas/camera_wrist_left/aligned_depth_to_color/image_raw	Depth Image from left wrist camera	sensor_msgs::Image
/hdas/camera_wrist_right/aligned_depth_to_color/image_raw	Depth Image from right wrist camera	sensor_msgs::Image
/hdas/camera_head/depth/depth_registered	Depth Image from head camera	sensor_msgs::Image

Topic Name	Field	Description
/hdas/camera_chassis_front_left/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_chassis_front_right/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_chassis_left/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_chassis_right/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_chassis_rear/rgb/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_wrist_left/color/image_raw/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_wrist_right/color/image_raw/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_head/left_raw/image_raw_color/compressed	header	Standard header
	format	JPEG
	data	Image data
/hdas/camera_wrist_left/aligned_depth_to_color/image_raw	header	Standard header
	height	Depend on settings
	width	Depend on settings
	encoding	16UC1
	is_bigendian	0
	step	Depend on setttings
	data	Image data
/hdas/camera_wrist_right/aligned_depth_to_color/image_raw	header	Standard header
	height	Depend on settings
	width	Depend on settings
	encoding	16UC1
	is_bigendian	0
	step	Depend on setttings
	data	Image data
/hdas/camera_head/depth/depth_registered	header	Standard header
	height	Depend on settings
	width	Depend on settings
	encoding	32FC1
	is_bigendian	0
	step	Depend on setttings
	data	Image data

LiDAR Interface

Topic Name	Description	Message Type
/hdas/lidar_chassis_left	Lidar pointcloud	sensor_msgs::PointCloud2

Topic Name	Field	Description
/hdas/lidar_chassis_left	header	Standard header
/hdas/lidar_chassis_left	fields	LiDAR data

IMU Interface

Topic Name	Description	Message Type
/hdas/imu_chassis	Imu information	sensor_msgs::Imu
/hdas/imu_torso	Imu information	sensor_msgs::Imu

Topic Name	Field	Description
/hdas/imu_chassis	header	Standard header
	orientation.x	quaternion x
	orientation.y	quaternion y
	orientation.z	quaternion z
	orientation.w	quaternion w
	angular_velocity.x	Groyscope angular velocity x
	angular_velocity.y	Groyscope angular velocity y
	angular_velocity.z	Groyscope angular velocity z
	linear_acceleration.x	Linear acceleration x
	linear_acceleration.y	Linear acceleration y
	linear_acceleration.z	Linear acceleration z
/hdas/imu_torso	header	Standard header
	orientation.x	quaternion x
	orientation.y	quaternion y
	orientation.z	quaternion z
	orientation.w	quaternion w
	angular_velocity.x	Groyscope angular velocity x
	angular_velocity.y	Groyscope angular velocity y
	angular_velocity.z	Groyscope angular velocity z
	linear_acceleration.x	Linear acceleration x
	linear_acceleration.y	Linear acceleration y
	linear_acceleration.z	Linear acceleration z

BMS Interface

Topic Name	Description	Message Type
/hdas/bms	Battery BMS information	hdas_msg::bms

Topic Name	Field	Description
/hdas/bms	header	Standard header
	voltage	Voltage in V
	current	Current in A
	capital	Capital in %

Remote Controller Interface

Topic Name	Description	Message Type
/hdas/controller	Signal from remote controler	hdas_msg::controller_signal_stamped

Topic Name	Field	Description
/hdas/controller	header	Standard header
	data.left_x_axis	X axis of left joystick
	data.left_y_axis	Y axis of left joystick
	data.right_x_axis	X axis of right joystick
	data.right_y_axis	Y axis of right joystick
	mode	-

Control Interface

The current Galaxea R1 control diagram is shown as below, consisting of mainly 5 parts, R1 Pose Feedback, R1 Joint Control, R1 Chassis Control, R1 Arm Pose Control, and R1 Torso Pose Control. Details will be illustrated in below chapters. The whole package name is "mobiman", short for mobile manipulation.

R1_control_interface_draw

R1 Chassis Control

R1 Chassis Control is the node which can control R1 chassis by vector control, which means you can send speed in three directions at the same time, which are direction x, direction y, and direction yaw(w). It can be brought up by command.

roslaunch mobiman r1_chassis_control.launch

This launch file will bring up two nodes, which are chassis_control_node and r1_control_manager. Chassis_control_node is the main function for R1 chassis speed control, the interface is shown as blow.

Topic Name	Description	Message Type
/motion_target/target_speed_chassis	Issue the target speed of chassis, consisting of three directions, x, y and w	geometry_msgs::Twist
/motion_target/chassis_acc_limit	Issuing the chassis control acceleration limit, the max value for x, y, w is 2.5, 1.0, 1.0.	geometry_msgs::Twist
/motion_target/brake_mode	Issuing whether the chassis is entering brake mode. If in brake mode, when speed is 0, the chassis will lock itself by turning the wheel to a certain degree.	std_msgs::Bool
/hdas/feedback_chassis	R1 chassis control subscribes to this topic and controls the chassis the target speed	sensor_msgs::JointState
/motion_control/control_chassis	R1 chassis control publishes this topic to control the motor	hdas_msg::motor_control

Topic Name	Field	Description
/motion_target/target_speed_chassis	header	Standard ROS header
	linear	control of linear speed
	.x	linear_speed of x, range (-1.5 to 1.5) m/s
	.y	linear_speed of y, range (-1.5 to 1.5) m/s
	angular	control of yaw rate
	.z	control of angular speed, range (-3 to 3) rad/s
/motion_target/chassis_acc_limit	header	Standard ROS header
	linear	Acc limit of linear speed
	.x	Acc limit of x, range (-2.5 to 2.5) m/s²
	.y	Acc limit of y, range (-1.0 to 1.0) m/s²
	angular	control of yaw rate
	.z	Acc limit of angular speed, range (-3 to 3) rad/s²
/motion_target/brake_mode	data	Bool, True for entering brake mode; False for quitting brake mode.
/hdas/feedback_chassis	-	Refer to HDAS msg Description
/motion_control/control_chassis	-	Refer to HDAS msg Description

R1 Joint Control

R1 Chassis Control is the node which can control R1 each joint of torso, arms, 16 joints in total. It can be brought up by command.

roslaunch mobiman r1_jointTrackerdemo.launch

This launch file will bring up robot state publisher, eepose_pub_node and r1_jointTracker_demo_node. Robot state publisher is a ros-provided tool, providing tf for RVIZ according to /joint_states. andr1_jointTracker_demo_node is the main function node to control each joint.

r1_jointTracker_demo_node interface is shown below.

Topic Name	Description	Message Type
/motion_target/target_joint_state_arm_left	Target position of each left arm joint	sensor_msgs::JointState
/motion_target/target_joint_state_arm_right	Target position of each right arm joint	sensor_msgs::JointState
/motion_target/target_joint_state_torso	Target position of each torso joint	sensor_msgs::JointState
/hdas/feedback_arm_left	Feedback of left arm motor	sensor_msgs::JointState
/hdas/feedback_arm_right	Feedback of right arm motor	sensor_msgs::JointState
/hdas/feedback_torso	Feedback of torso motor	sensor_msgs::JointState
/motion_control/control_arm_left	Control of left arm motor	hdas_msg::motor_control
/motion_control/control_arm_right	Control of right arm motor	hdas_msg::motor_control
/motion_control/control_torso	Control of torso motor	hdas_msg::motor_control

Topic Name	Field	Description
/motion_target/target_joint_state_arm_left /motion_target/target_joint_state_arm_right	position	This is a vector of six elements. 6 joint target positions for each joint.
	velocity	This is a vector of six elements. Standing for max velocity of each joint during movement. The max speed is below, {3, 3, 3, 5, 5, 5}. The acc & jerk limit is set to 1.5* speed limit.
/motion_target/target_joint_state_torso	position	This is a vector of four elements. 4 joint target positions for each joint.
/motion_target/target_joint_state_torso	velocity	This is a vector of four elements. Standing for four velocity of each joint during movement. The max speed is below, {1.5, 1.5, 1.5, 1.5}. The acc & jerk limit is set to 1.5* speed limit.
/hdas/feedback_arm_left	-	Refer to HDAS msg Description
/hdas/feedback_arm_right	-	Refer to HDAS msg Description
/hdas/feedback_torso	-	Refer to HDAS msg Description
/motion_control/control_arm_left	-	Refer to HDAS msg Description
/motion_control/control_arm_right	-	Refer to HDAS msg Description
/motion_control/control_torso	-	Refer to HDAS msg Description

eepose_pub_node defines two frames, which are base link frame (Left), floating base frame (Middle) and ee pose frame(Right).

R1_joint_control

Topic Name	Description	Message Type
/motion_control/pose_ee_arm_left	Transform from floating base to left EE pose	geometry_msgs::PoseStamped
/motion_control/pose_ee_arm_right	Transform from floating base to right EE pose	geometry_msgs::PoseStamped
/motion_control/pose_floating_base	Transform from base-link to floating base	geometry_msgs::PoseStamped

Topic Name	Field	Description
/motion_control/pose_floating_base /motion_control/pose_ee_arm_right /motion_control/pose_ee_arm_left	position	This is the translation information in X, Y, Z position
	pose.position.x	Shift in the X direction
	pose.position.y	Shift in the Y direction
	pose.position.z	Shift in the Z direction
	orientation	This is orientation information
	pose.orientation.x	Orientation quaternion
	pose.orientation.y	Orientation quaternion
	pose.orientation.z	Orientation quaternion
	pose.orientation.w	Orientation quaternion

R1 Arm Pose Control - Coming Soon

R1 Arm Pose Control is a ROS Package for controlling arm movement to target arm ee frame, and it can be brought up by

roslaunch mobiman r1_arm_pose_control.launch

The interface is shown below.

Topic Name	Description	Message Type
/motion_target/pose_ee_arm_left /motion_target/pose_ee_arm_right	Target pose of arm ee frame	Geometry_msgs::PoseStamped
/motion_target/target_joint_state_arm_left /motion_target/target_joint_state_arm_right	Target Joint position of each joint of arm	Sensor_msgs::JointState
/hdas/feedback_arm_left /hdas/feedback_arm_right	Feedback of arm joint	Sensor_msgs::JointState

Topic Name	Field	Description
/motion_target/pose_ee_arm_left	header	Standard Header
	pose.position.x	Shift in x-direction
	pose.position.y	Shift in y-direction
	pose.position.z	Shift in z-direction
	pose.orientation.x	Orientation quaternion
	pose.orientation.y	Orientation quaternion
	pose.orientation.z	Orientation quaternion
	pose.orientation.w	Orientation quaternion
/motion_target/target_joint_state_arm_left /motion_target/target_joint_state_arm_right	-	Refer to R1 Joint Control Chapter
/hdas/feedback_arm_left /hdas/feedback_arm_right	-	Refer to HDAS msg

R1 Torso Pose Control - Coming Soon

R1 Torso Pose Control is a ROS Package for controlling torso movement to target floating base frame. It can be brought up by

roslaunch mobiman r1_torso_pos_control.launch

This pose is subject to certain constraints, as described below.

Topic Name	Description	Message Type
/motion_target/target_pose_torso	Target pose of floating base frame	geometry_msgs::PoseStamped
/motion_target/target_joint_state_torso	Target joint position of each joint of torso	sensor_msgs::JointState
/hdas/feedback_torso	Feedback of torso joint	sensor_msgs::JointState

Topic Name	Field	Description
/motion_target/pose_ee_arm_left	header	Standard Header
	pose.position.x	Shift in x-direction in the range of (0,0.25)
	pose.position.z	Shift in z-direction in the range of (0,1)
	pose.orientation.x	The constraint of -Pitch satisfies sin(pitch) (-x/0.32, (0.25-x)/0.32). The constraint of -Yaw is satisfied with ±3.05.
	pose.orientation.x	Orientation quaternion
	pose.orientation.y	Orientation quaternion
	pose.orientation.z	Orientation quaternion
	pose.orientation.w	Orientation quaternion
/motion_target/target_joint_state_torso	-	Refer to R1 Joint Control Chapter
/hdas/feedback_torso	-	Refer to HDAS msg