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Galaxea ATC ROS2 SDK - V2.2.0 - Changelog

Update Notes

Software Version: V2.2.0

Ubuntu System: 22.04 LTS

ROS Version: ROS 2 Humble

Release Date: 2025.12.12

Version Content Updates

1. Driver and Embedded Updates:

  1. Added functionality to read intrinsic parameter file /opt/galaxea/sensor/stereo_ros.yaml;
  2. Support ROS publishing of camera_info messages with frequency following camera images;
  3. R1 Pro model adds emergency stop state feedback.
  4. Added protection against null values or index out-of-bounds in motion_control commands, illegal data will trigger an error.

2. Motion Control Updates:

  1. R1 Lite-T added control signal timeout protection to prevent abnormal occupation of joint states.
  2. Added R1LITEBODY startup with relaxed ik for both left and right arm nodes, supporting end-effector control by default;
  3. Unified optimization of Robot State pose publishing and TF tree binding for different models.

3. Teleoperation and Data Collection Feature Updates:

  1. Optimized data_collection collection thread to resolve blocking issues.
  2. Added configurable data storage path functionality, which can be achieved by changing the save_folder path in the config.json file under data_collection/config/default;
  3. Added data collection package module fault code logs and file logs;
  4. Added data_collection receiving VR_IP functionality;
  5. Added VR controller input NAN value detection;

4. EHI Human-Machine Interaction Page Updates:

  1. EHI human-machine interaction interface officially launched. Users can more conveniently access information display, task dispatching, and data interaction functions. This version only releases the following core modules: Official SDK one-click startup, data collection teleoperation panel (optimized data collection experience), etc. [Currently only supports R1 Pro model]

5. System Updates:

  1. Added controller operating system disable dangerous command script ban_some_fool.sh. 
    # Place the script in home/Download
bash ban_some_fool.sh
  2. Added EHI dependencies, data collection support can now be performed through EHI, please refer to EHI Interactive Interface Operation Guide

Update Precautions

  1. During the upgrade process, do not interrupt system operation or perform any control operations, otherwise the upgrade may fail and affect normal system usage.
  2. After the upgrade is complete, please power off the robot and power it on again to ensure the system update takes full effect.

Please strictly follow the following tutorial to complete this system update. If you encounter any problems, please contact us at support@galaxea-dynamics.com for technical support!

Update Tutorial

1. Download 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.

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

2. Extract Update Package

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

3. OTA Firmware Upgrade

First start CAN communication 

bash ~/can.sh
candump can0 //Check if CAN data is normal
Or execute the following code to start CAN communication 
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 opt/galaxea/body/hardware.json configuration file. If the whole machine does not have this file, please contact the after-sales team to update the configuration.

# Terminal 2cd ~/ && source install/setup.bash
cd ~/install/Embedded_Software_Firmware/share/tools
python3 ota_xcu.py
OTA will then proceed sequentially. After waiting a few seconds, "GET OTA finished!!" indicates successful update.

Note: After the update is complete, please power off the robot and power it on again.

4. SDK Startup Method

ATC STANDARD(ARM64)

Suitable for 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/

## Isomorphic Related
# R1 Isomorphic Teleop：//R1T corresponding R1 startup method
./robot_startup.sh boot ../session.d/ATCStandard/R1IsomorphicTeleop.d/
# R1 Pro Isomorphic Teleop.d：//R1PROT corresponding R1PRO startup method
./robot_startup.sh boot ../session.d/ATCStandard/R1PROIsomorphicTeleop.d/

ATC STANDARD(x86_64)

Suitable for 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 Arm(x86_64)

Suitable for A1X/A1Y 

cd install/share/startup_config/script/
# R1 Lite-T(Gello)：
./robot_startup.sh boot ../session.d/ATCHostStandard/R1LITET.d/
# R1-T：
./robot_startup.sh boot ../session.d/ATCHostStandard/R1T.d/
# R1Pro-T：
./robot_startup.sh boot ../session.d/ATCHostStandard/R1LITET.d/

ATC Navigation(ARM64)

Suitable for R1 Pro/R1 Navigation Function

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)

Suitable for R1 Pro/R1 System Functions 

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