Galaxea ATC ROS2 SDK - V2.1.5 - Changelog

Update Description

Software Version: V2.1.5

Ubuntu System: 22.04 LTS

ROS Version: ROS 2 Humble

Release Date: 2025.10.30

Version Content Updates

1 ATC - HDAS Driver Content Updates

Added emergency stop reporting function;
Added R1 Pro motor zero point loss error code;
Added HDAS function to read the hardware.json file;
Added A2 robotic arm temperature reporting;
Added temperature detection message;
Added chassis error parsing and reporting;
Added motor over-temperature protection function under high-temperature conditions, which can automatically reduce output torque;
Added current limiting and disable protection when the motor encounters a stall;
Added function to read the intrinsic parameter .yaml file, convert it, and finally publish it as a topic;
Added configurable intrinsic parameter file path function;
Removed gripper motor raw_data information from /hdas/feedback_arm_left/right.

2. ATC - Motion Control Content Updates

Optimized Relaxed IK and retained only one launch file, unifying the configuration of MIT and PID control modes.
Improved the speed adaptation of the R1 Pro out-of-box script.
Added arm detection for the R1 Pro out-of-box posture, while arms are not detected in the upright posture.

3. ATC - Teleoperation Content Updates

Added a wheel_odometer wheel_odometry mode for R1 Lite and R1 Pro, which derives chassis motion trajectory through kinematic modeling of the steering wheel speeds.
Added cumulative distance calculation for LiDAR keyframes.

4. Others

1. Added the camera info interface, allowing configuration and modification of camera intrinsic parameters for corresponding resolutions: /hdas/camera_chassis_rear/rgb/camera_info.
Renamed the realsense-ros interface image_rect_raw to image_raw and removed the undistortion processing.
Added the TCU interface to disable torso IMU protection: cansend can0 043#07.
Modified signal_camera_Node to run the camera_i2c_read.py script. Execute the following command to generate the camera_calib folder and move it to the specified path:
```
cp -r camera_calib /opt/galaxea/sensor  
```

Update Precautions

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.
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-dynamics.com or support@galaxea-dynamics.comfor technical support!

Update Tutorial

1. Download the SDK

Usage Instructions and Disclaimer
The performance and functionality of the teleoperation feature published on this site are subject to the company's publicly released technical specifications and functional descriptions. During actual use, Galaxea Dynamics shall not be held liable for any malfunctions, anomalies, or losses (including direct or indirect losses) resulting from the following circumstances:
1. Failure to correctly deploy the operating environment, configure network settings, or use equipment in accordance with the operation manual or tutorials;
2. Unauthorized modification of code, integration of incompatible components, or use of the teleoperation feature beyond its intended functional design scope;
3. Factors beyond the company’s control, such as network interruptions, power failures, or third-party hardware malfunctions;
4. Latency, jitter, data packet loss, or other phenomena that cannot be completely avoided due to the current technical characteristics of the industry.
Downloading the teleoperation SDK and using this feature constitutes your acknowledgment that you have read and agreed to the above terms.

SDK Download: ATC V2.1.5 SDK [please contact tech support!]

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

2. Extract the Update Package

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

3. OTA Upgrades

Launch CAN communication

bash ~/can.sh
candump can0 # check if CAN data is normal.

alnatively, using the following commands:

sudo ip link set can0 down
sudo ip link set can0 type can bitrate 1000000 sample-point 0.875 dbitrate 5000000 fd on dsample-point 0.875     
sudo ip link set can0 up
candump can0  # check if CAN data is normal.

Use the opt/galaxea/body/hardware.json configuration file. If you find that the robot does not have this file, please contact the after-sales team to update the configuration.
```
# Terminal2
cd ~/ && source install/setup.bash
cd ~/install/Embedded_Software_Firmware/share/tools
python3 ota_xcu.py
```
The OTA update will be performed sequentially. After waiting for several seconds, the message "GET OTA finished!!" will indicate a successful update.

Note: Once the update is complete, please turn off the robot's power and then restart it.

3.4 SDK Launch

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 VR Teleop：
./robot_startup.sh boot ../session.d/ATCStandard/R1VRTeleop.d/
# R1PRO Body：
./robot_startup.sh boot ../session.d/ATCStandard/R1PROBody.d/
# R1 Pro VR Teleop：
./robot_startup.sh boot ../session.d/ATCStandard/R1PROVRTeleop.d/

## Teleoperation 
# R1 Isomorphic Teleop：//R1T
./robot_startup.sh boot ../session.d/ATCStandard/R1IsomorphicTeleop.d/
# R1 Pro Isomorphic Teleop.d：//R1PROT
./robot_startup.sh boot ../session.d/ATCStandard/R1PROIsomorphicTeleop.d/

ATC STANDARD(x86_64)

Applicable to R1 Lite

cd install/share/startup_config/script/
# R1 Lite Body：
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEBody.d/
# R1 Lite VR Teleop：
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEVRTeleop.d/

ATC Navigation(ARM64)

Applicable to R1 Pro/R1 Navigation

cd install/share/startup_config/script/
# R1 Navigation：
./robot_startup.sh boot ../session.d/ATCNavigation/R1VRTeleopNAV.d/
# R1 Pro Navigation：
./robot_startup.sh boot ../session.d/ATCNavigation/R1PROVRTeleopNAV.d/

ATC System(ARM64)

Applicable to R1 Pro/R1 System

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

ATC STANDARD(x86_64)

Applicable to R1 Lite.

cd install/share/startup_config/script/
# R1 Lite Body：
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEBody.d/
# R1 Lite VR Teleop：
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEVRTeleop.d/

ATC Navigation(ARM64)

Applicable to R1 Pro/R1 Navigation.

cd install/share/startup_config/script/
# R1 Navigation：
./robot_startup.sh boot ../session.d/ATCNavigation/R1VRTeleopNAV.d/
# R1 Pro Navigation：
./robot_startup.sh boot ../session.d/ATCNavigation/R1PROVRTeleopNAV.d/

ATC System(ARM64)

Applicable to R1 Pro/R1 System. Bash cd install/share/startup_config/script/ ./robot_startup.sh boot ../sessions.d/ATCSystem/R1PROATC.d/ -->