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SDK: VNext

获取SDK

环境依赖​

  1. 硬件依赖：R1计算单元
  2. 操作系统依赖：Ubuntu 22.04 LTS
  3. 中间件依赖：ROS 2 Humble

获取SDK​

R1已于V2.0.5后暂停迭代更新。

2. 解压更新包​

tar -xf ${your_download_path}/atc_standard-V2.0.5.tar.gz -C ~/

3. 启动CAN通信​

# 终端1
sudo ip link set can0 down
sudo ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on       
sudo ip link set can0 up

4. SDK 启动方式​

ATC STANDARD(ARM64)​

适用于 R1 Pro/

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/

ATC STANDARD(x86_64)​

适用于 R1 Lite

ATC Navigation(ARM64)​

适用于 R1 导航功能

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