Skip to content

Commit 6701bbc

Browse files
author
Your Name
committed
v1.1.7 update
1 parent 5ade148 commit 6701bbc

14 files changed

Lines changed: 171 additions & 37 deletions

File tree

‎docs/en/Guide/A1/A1_Software_Guide.md‎

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -14,8 +14,9 @@ Alternatively, you can obtain the SDK using either of the following methods:
1414
- Baidu Cloud：[https://pan.baidu.com/s/1w-zctmpHBfk_Sqm2uihAaA?pwd=arm1](https://pan.baidu.com/s/1w-zctmpHBfk_Sqm2uihAaA?pwd=arm1)
1515
- Google Drive: [https://drive.google.com/drive/folders/12oYeylWJWcaRDKeD2qG7xQNI7rFpBbel?usp=sharing](https://drive.google.com/drive/folders/12oYeylWJWcaRDKeD2qG7xQNI7rFpBbel?usp=sharing)
1616

17-
## Developing and Operating Tutorial
18-
### Initial Setup
17+
## Start SDK
18+
<span style="color:red;">**Note: After reconnecting the USB cable each time, make sure to execute the following commands.**</span>
19+
1920
1. After confirming the power and USB connection, run the following command to modify the serial port file's read and write permissions:
2021
```Bash
2122
sudo chmod 777 /dev/ttyACM0
@@ -28,12 +29,14 @@ source setup.bash
2829
roslaunch signal_arm single_arm_node.launch
2930
```
3031

31-
3. Click [here](https://github.com/userguide-galaxea/A1_SDK/tree/galaxea/main/resource) to get the Demo scripts for A1.
32+
## Demo
33+
Click [here](https://github.com/userguide-galaxea/A1_SDK/tree/galaxea/main/resource) to get the Demo scripts for A1.
3234
```Bash
3335
cd A1_SDK/install
3436
source setup.bash
3537
roslaunch mobiman eeTrackerdemo.launch
3638
```
39+
3740
```Bash
3841
rostopic pub /a1_ee_target geometry_msgs/PoseStamped "{
3942
header: {

‎docs/en/Guide/A1XY/A1XY_Unbox_Guide.md‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -88,7 +88,7 @@ Also, prepare the following items:
8888
</tbody>
8989
</table>
9090

91-
**Note: To ensure proper operation of the product, please place R1 in a dry, well-ventilated environment and ensure there are no obstacles or hazardous materials around.**
91+
**Note: To ensure proper operation of the product, please place A1XY in a dry, well-ventilated environment and ensure there are no obstacles or hazardous materials around.**
9292

9393
## 2. Installing the Arm
9494

‎docs/en/Guide/R1/R1_Software_Changelog/R1_changelog.md‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22

33
## ROS 1 Noetic
44

5+
- [V 1.1.7](./ROS1/v1.1.7.md)
56
- [V 1.1.4](./ROS1/v1.1.4.md)
67
- [V 1.1.0](./ROS1/v1.1.0.md)
78
- [V 1.0.4](./ROS1/v1.0.4.md)

‎docs/en/Guide/R1/R1_Software_Changelog/ROS1/v1.1.7.md‎

Lines changed: 42 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,42 @@
1+
# Galaxea R1 Software Version_V1.1.7_Changelog
2+
3+
## Release Notes
4+
5+
**Product Name:** Galaxea R1/R1 Pro/R1 Lite
6+
7+
**Software Version:** SDK V1.1.7
8+
9+
**Ubuntu System:** 20.04 LTS
10+
11+
**ROS Version:** ROS 1 Noetic
12+
13+
**Release Date:** April 24, 2025 (GMT +8)
14+
15+
<!-- **Update Content:** -->
16+
17+
18+
## Update Tutorial
19+
20+
### Download the Update Package
21+
22+
`atc_standard-V1.1.7.tar.gz`
23+
24+
- Google Drive: [R1 SDK V1.1.7](https://drive.google.com/drive/folders/14euNzWvkBfRkmR7bOr-xTOOARYQua0bW?usp=sharing)
25+
- Baidu Cloud: [R1 SDK V1.1.7](https://pan.baidu.com/s/1bYEPNaWem9H4qqkMUckB8g?pwd=v117)
26+
27+
### Extract the Package
28+
29+
```Bash
30+
tar -xf ${your_download_path}/atc_standard-V1.1.7.tar.gz -C ~/
31+
```
32+
33+
### Execute the Module
34+
35+
```Bash
36+
sudo apt-get install tmux tmuxp
37+
cd {your_download_path}/install/share/startup_config/script
38+
//R1：
39+
./robot_startup.sh boot ../session.d/ATCStandard/R1Body.d/
40+
//R1 VR：
41+
./robot_startup.sh boot ../session.d/ATCStandard/R1VRTeleop.d/
42+
```

‎docs/en/Guide/R1/R1_Software_Guide_ros1.md‎

Lines changed: 22 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -49,13 +49,11 @@ The current Galaxea R1 driver consists of several components, including actuator
4949
Click [here](./R1_Step_by_Step_Guide.md/#43-start-can-driver) to view detailed startup instructions.
5050
All the components can be launched by using the following command template.
5151

52-
Remember to change `roslaunch` to `ros2 launch` for each module.
53-
5452
```Bash
5553
source {your_download_path}/install/setup.bash
56-
ros2 launch <Package Name> <Launch File>
54+
roslaunch <Package Name> <Launch File>
5755
# example
58-
ros2 launch HDAS r1.py
56+
roslaunch HDAS r1.launch
5957
```
6058

6159
<table style="width: 100%; border-collapse: collapse;">
@@ -1594,13 +1592,18 @@ The specific fields and their detailed descriptions for the above topic are show
15941592
R1 Arm Pose Control is a ROS package for controlling arm movement to the target end-effector (ee) frame. It can be launched using the following command:
15951593
15961594
```bash
1597-
source {your_download_path}install/setup.bash
1598-
roslaunch mobiman r1_left_arm_mpc.launch # MPC control of the left arm end-effector.
1599-
roslaunch mobiman r1_right_arm_mpc.launch # MPC control of the right arm end-effector.
1595+
source {your_download_path}/install/setup.bash
1596+
roslaunch mobiman r1_left_arm_relaxed_ik_mit.launch
1597+
roslaunch mobiman r1_right_arm_relaxed_ik_mit.launch
16001598
```
16011599
16021600
Note：
16031601
1602+
- After the dual-arm pose control is activated, the joint control node still needs to be started. This is because pose control involves continuously solving for the target joint angles based on the target end-effector (ee) pose, and then publishing these angles to `/motion_target/target_joint_state_arm_left` and `/motion_target/target_joint_state_arm_right`.
1603+
```bash
1604+
source {your_download_path}/install/setup.bash
1605+
roslaunch mobiman r1_jointTrackerdemo.launch
1606+
```
16041607
- When the dual-arm pose controller is activated, both the left and right arms will automatically adjust to the position shown in the figure below. Please ensure that the R1 is placed with both arms naturally hanging down to avoid initialization failure due to excessive movement angles.
16051608
- The current end-effector pose control's relative pose is the transformation of the gripper_link relative to torso_link4 in the URDF. For the left arm, this refers to the relative relationship between the left_gripper_link coordinate frame and torso_link4 coordinate frame, including offsets in x, y, and z, as shown in the right figure below, transforming as well as the rotational offsets corresponding to the orientation.
16061609

@@ -1642,16 +1645,16 @@ The interface is shown below.
16421645
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">sensor_msgs::JointState</td>
16431646
</tr>
16441647
<tr style="background-color: white;">
1645-
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/motion_control/control_arm_left</td>
1648+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/motion_target/target_joint_state_arm_left</td>
16461649
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">Output</td>
1647-
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">Control of left arm motor</td>
1648-
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">hdas_msg::motor_control</td>
1650+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">Target joint state of left arm</td>
1651+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">sensor_msgs::JointState</td>
16491652
</tr>
16501653
<tr style="background-color: white;">
1651-
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/motion_control/control_arm_right</td>
1654+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/motion_target/target_joint_state_arm_right</td>
16521655
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">Output</td>
1653-
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">Control of right arm motor</td>
1654-
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">hdas_msg::motor_control</td>
1656+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">Target joint state of right arm</td>
1657+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">sensor_msgs::JointState</td>
16551658
</tr>
16561659
</tbody>
16571660
</table>
@@ -1703,7 +1706,12 @@ The specific fields and their detailed descriptions for the above topic are show
17031706
<tr style="background-color: white;">
17041707
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/hdas/feedback_arm_left<br>/hdas/feedback_arm_right</td>
17051708
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">-</td>
1706-
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">Refer to HDAS msg</td>
1709+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">Refer to the arm driver interace </td>
1710+
</tr>
1711+
<tr style="background-color: white;">
1712+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">/motion_target/target_joint_state_arm_left<br>/motion_target/target_joint_state_arm_right</td>
1713+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">-</td>
1714+
<td style="vertical-align: middle; padding: 8px; border: 1px solid #ddd;">Refer to the arm driver interace </td>
17071715
</tr>
17081716
</tbody>
17091717
</table>

‎docs/en/Guide/R1/R1_Software_Guide_ros2.md‎

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -49,11 +49,12 @@ The current Galaxea R1 driver consists of several components, including actuator
4949

5050
Click [here](./R1_Step_by_Step_Guide.md/#43-start-can-driver) to view detailed startup instructions.
5151
All the components can be launched by using the following command template.
52+
5253
```Bash
5354
source {your_download_path}install/setup.bash
54-
roslaunch <Package Name> <Launch File>
55+
ros2 launch <Package Name> <Launch File>
5556
# Example
56-
roslaunch HDAS r1.launch
57+
ros2 launch HDAS r1.py
5758
```
5859

5960
<table style="width: 100%; border-collapse: collapse;">

‎docs/en/assets/R1Pro_product.png‎

-1.19 MB
Loading

‎docs/zh/Guide/A1/A1_Software_Guide.md‎

Lines changed: 7 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -13,8 +13,9 @@
1313

1414
- Google Drive: [https://drive.google.com/drive/folders/12oYeylWJWcaRDKeD2qG7xQNI7rFpBbel?usp=sharing](https://drive.google.com/drive/folders/12oYeylWJWcaRDKeD2qG7xQNI7rFpBbel?usp=sharing)
1515

16-
## 开发与操作教程
17-
### 初次使用设置
16+
## 启动SDK
17+
<span style="color:red;">**注意：每次重新连接USB线束之后，务必要执行以下命令。**</span>
18+
1819
1. 确认电源和USB连接后，运行以下命令修改串口文件的读写权限：
1920
```Bash
2021
sudo chmod 777 /dev/ttyACM0
@@ -25,16 +26,16 @@
2526
source setup.bash
2627
roslaunch signal_arm single_arm_node.launch
2728
```
28-
接口部分描述了A1机械臂的各种控制和状态反馈接口，帮助用户了解如何通过ROS包连接和控制机械臂。
2929

30-
### Demo演示
30+
## Demo演示
3131
点击[此处](https://github.com/userguide-galaxea/A1_SDK/tree/galaxea/main/resource)获取A1 Demo脚本。
3232

3333
```Bash
3434
cd A1_SDK/install
3535
source setup.bash
3636
roslaunch mobiman eeTrackerdemo.launch
3737
```
38+
3839
运行以下命令以控制末端执行器运动：
3940
```Bash
4041
rostopic pub /a1_ee_target geometry_msgs/PoseStamped "{
@@ -49,6 +50,7 @@ orientation: {x: 0.5, y: 0.5, z: 0.5, w: 0.5}
4950
}
5051
}"
5152
```
53+
5254
## 软件接口
5355
### 驱动接口
5456
该接口是一个用于机械臂控制和状态反馈的ROS包，定义了多个话题用于发布和订阅臂的状态、控制命令和相关错误代码。以下是每个话题及其相关消息类型的详细描述：
@@ -93,6 +95,7 @@ orientation: {x: 0.5, y: 0.5, z: 0.5, w: 0.5}
9395
</tr>
9496
</tbody>
9597
</table>
98+
9699
<table style="border-collapse: collapse; width: 100%;">
97100
<thead>
98101
<tr tr style="background-color: black; color: white;text-align: left;">

‎docs/zh/Guide/A1XY/A1XY_Unbox_Guide.md‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -88,7 +88,7 @@
8888
</tbody>
8989
</table>
9090

91-
**注意：为确保产品正常运行，请将R1放置在干燥、通风良好的环境中，并确保周围没有障碍物或危险物品。**
91+
**注意：为确保产品正常运行，请将A1XY放置在干燥、通风良好的环境中，并确保周围没有障碍物或危险物品。**
9292

9393
## 2. 安装本体
9494

‎docs/zh/Guide/R1/R1_Software_Changelog/R1_changelog.md‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22

33
## ROS 1 Noetic
44

5+
- [V 1.1.7](./ROS1/v1.1.7.md)
56
- [V 1.1.4](./ROS1/v1.1.4.md)
67
- [V 1.1.0](./ROS1/v1.1.0.md)
78
- [V 1.0.4](./ROS1/v1.0.4.md)

0 commit comments

Comments
 (0)