Skip to content

Commit 8b3fdf8

Browse files
author
Your Name
committed
update
1 parent 4175a79 commit 8b3fdf8

12 files changed

Lines changed: 99 additions & 70 deletions

File tree

‎docs/en/Guide/R1/R1_Software_Changelog/ROS1/v1.1.8.md‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -35,13 +35,13 @@
3535
- Google Drive：[R1 SDK V1.1.8](https://drive.google.com/drive/folders/1_ivv2CuCIm4rgv6bJvz62NO9ZtNpHQEr?usp=sharing)
3636
- Baidu Cloud: [R1 SDK V1.1.8](https://pan.baidu.com/s/1EHfcALZ6R9EbReqIi1MG_g?pwd=v118)
3737

38-
### Update the Embedded Firmware
38+
<!-- ### Update the Embedded Firmware
3939
Upgrade all body drivers.
4040
4141
```Bash
4242
cd {your_download_path}/install/share/Embedded_Software_Firmware/tools/R1
4343
bash r1_embedded_firmware_upgrade.sh ../../R1/V1_1_8
44-
```
44+
``` -->
4545

4646
### Extract the Package
4747

‎docs/en/Guide/R1/R1_Software_Changelog/ROS2/v2.0.4.md‎

Lines changed: 16 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,6 @@
4747

4848
`atc_navigation_V2.0.4.tar.gz`
4949

50-
`atc_host_standard_V2.0.4.tar.gz`
5150

5251
- Google Drive：[ATC_SDK_V2.0.4](https://drive.google.com/drive/folders/1ZQX9nKik3OO9LzeD6MqQF0x8Mf7VN5YD?usp=sharing)
5352
- Baidu Cloud: [ATC_SDK_V2.0.4](https://pan.baidu.com/s/1Qewogh-_Xa_wJ1zgcBWRSQ?pwd=v204)
@@ -85,29 +84,34 @@ Wait a moment until **"GET OTA finished!!"** appears.
8584

8685

8786
### Execute the Module
88-
1. In the file `atc_standard-V2.0.3.tar.gz`:
89-
87+
1. In the file `atc_standard-V2.0.4.tar.gz`, Start `R1 BODY`:
9088
```Bash
9189
cd install/startup_config/share/startup_config/script/
9290

93-
# Satrt R1 BODY:
94-
./robot_startup.sh boot ../session.d/ATCStandard/R1Body.d/
95-
96-
# Start R1 VRTELEOP：
97-
./robot_startup.sh boot ../session.d/ATCStandard/R1VRTeleop.d/
91+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1Body.d/
9892
```
9993

100-
2. In the file `atc_navigation-V2.0.3.tar.gz`:
94+
2. In the file `atc_standard-V2.0.4.tar.gz`, Start `R1 VRTELEOP`:
95+
96+
First, add the following env at the end of the `~/.bashrc` file to connect the robot and VR.
97+
```Bash
98+
ROS_IP=The wireless network IP of robot
99+
VR_IP=The IP of the VR glasses connected to the same WiFi.
100+
```
101101

102+
Then start VR teleopertaion:
102103
```Bash
103104
cd install/startup_config/share/startup_config/script/
105+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1VRTeleop.d/
106+
```
107+
108+
3. In the file `atc_navigation-V2.0.4.tar.gz`, start R1 NAVIGATION:
104109

105-
# Start R1 NAVIGATION:
110+
```Bash
111+
cd install/startup_config/share/startup_config/script/
106112
./robot_startup.sh boot ../sessions.d/ATCNavigation/R1VRTeleopNAV.d/
107113
```
108114

109-
![sdk_ros2_execute](../assets/sdk_ros2_execute.png)
110-
111115

112116
### Terminate ALL
113117
Execute the following conmand to terminate all processes initiated by the above operations.

‎docs/en/Guide/R1Pro/R1Pro_Software_Changelog/ROS1/v1.1.8.md‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@
3131
- Google Drive：[R1 Pro SDK V1.1.8](https://drive.google.com/drive/folders/1yeBBmdN1uhNZn7att6LNYVOrpNBLwz5y?usp=sharing)
3232
- Baidu Cloud: [R1 Pro SDK V1.1.8](https://pan.baidu.com/s/19zWgeqxha40Mmu7sGznIYQ?pwd=v118)
3333

34-
### Update the Embedded Firmware
34+
<!-- ### Update the Embedded Firmware
3535
3636
1. Upgrade all body drivers.
3737
```Bash
@@ -42,7 +42,7 @@
4242
```Bash
4343
cd {your_download_path}/install/share/Embedded_Software_Firmware/tools/A2
4444
bash a2_embeded_firmware_upgrade.sh ../../R1PRO/V1_1_8
45-
```
45+
``` -->
4646

4747
### Extract the Package
4848

‎docs/en/Guide/R1Pro/R1Pro_Software_Changelog/ROS2/v2.0.4.md‎

Lines changed: 26 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -89,38 +89,48 @@ Wait a moment until **"GET OTA finished!!"** appears.
8989

9090

9191
### Execute the Module
92-
1. In the file `atc_standard-V2.0.3.tar.gz`:
93-
92+
1. **In the file `atc_standard-V2.0.4.tar.gz`, Start `R1PRO BODY`:**
9493
```Bash
9594
cd install/startup_config/share/startup_config/script/
95+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/
96+
```
9697

97-
# Satrt R1PRO BODY:
98-
./robot_startup.sh boot ../session.d/ATCStandard/R1PROBody.d/
98+
2. **In the file `atc_standard-V2.0.4.tar.gz`, Start `R1PRO VRTELEOP`:**
9999

100-
# Start R1PRO VRTELEOP：
101-
./robot_startup.sh boot ../session.d/ATCStandard/R1PROVRTeleop.d/
100+
First, add the following env at the end of the `~/.bashrc` file to connect the robot and VR.
101+
```Bash
102+
ROS_IP=The wireless network IP of robot
103+
VR_IP=The IP of the VR glasses connected to the same WiFi.
102104
```
103105

104-
2. In the file `atc_navigation-V2.0.3.tar.gz`:
105-
106+
Then start VR teleopertaion:
106107
```Bash
107108
cd install/startup_config/share/startup_config/script/
108-
109-
# Start R1PRO NAVIGATION:
110-
./robot_startup.sh boot ../sessions.d/ATCNavigation/R1PROVRTeleopNAV.d/
109+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROVRTeleop.d/
111110
```
112111

113-
![sdk_ros2_execute](../assets/sdk_ros2_execute.png)
112+
3. **In the file `atc_navigation-V2.0.3.tar.gz`, start `R1 NAVIGATION`:**
113+
114+
```Bash
115+
cd install/startup_config/share/startup_config/script/
116+
./robot_startup.sh boot ../sessions.d/ATCNavigation/R1VRTeleopNAV.d/
117+
```
114118

115-
3. R1 Pro-T Startup:
119+
4. **In the file `atc_host_standard-V2.0.4_x86.tar.gz`, start `R1PROT`:**
116120

117-
First, Start R1PRO BODY in R1 Pro ECU.
121+
First, in the file `atc_standard-V2.0.4.tar.gz`,start all nodes of R1 Pro-T.
118122
```Bash
119123
cd install/startup_config/share/startup_config/script/
120-
./robot_startup.sh boot ../session.d/ATCStandard/R1PROBody.d/
124+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/
125+
```
126+
127+
Start FDCAN communication:
128+
```Bash
129+
sudo ip link set dev can0 type can bitrate 1000000 dbitrate 5000000 fd on
130+
sudo ip link set up can0
121131
```
122132

123-
Thenm start R1PROT in the x86 host computer.
133+
Then, in the file `atc_host_standard-V2.0.4_x86.tar.gz`, start `R1PROT` in the x86 host computer.
124134
```Bash
125135
cd install/startup_config/share/startup_config/script/
126136
./robot_startup.sh boot ../sessions.d/ATCHostStandard/R1PROT.d/

‎docs/en/Guide/R1Pro/R1Pro_Teleop_Usage_Tutorial_ros1.md‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -140,7 +140,7 @@ S2R12000P18245_20240213173320125_RAW.json
140140
```
141141
142142
### 4.4 Start Recording
143-
Perform data recording operation through the VR left remote controller:
143+
Perform data recording operation through the left controller:
144144
<table style="width: 100%; border-collapse: collapse;">
145145
<thead>
146146
<tr style="background-color: black; color: white; text-align: left;">
@@ -163,7 +163,7 @@ Perform data recording operation through the VR left remote controller:
163163
<tr style="background-color: white; text-align: left;">
164164
<td style="padding: 8px; border: 1px solid #ddd;">Delete the current recording</td>
165165
<td style="padding: 8px; border: 1px solid #ddd;">Click button C on the left controller</td>
166-
<td style="padding: 8px; border: 1px solid #ddd;">If a recording is already in progress, click button C again will stop and delete the current recording, and it will not be written to disk.</td>
166+
<td style="padding: 8px; border: 1px solid #ddd;">If a recording is already in progress, click button C again will stop and delete the current recording (leave at least 5sec gap), and it will not be written to disk.</td>
167167
</tr>
168168
</tbody>
169169
</table>

‎docs/en/Guide/R1Pro/R1Pro_Teleop_Usage_Tutorial_ros2.md‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -129,7 +129,7 @@ S2R12000P18245_20240213173320125_RAW.json
129129
```
130130
131131
### 4.4 Start Recording
132-
Perform data recording operation through the VR left remote controller:
132+
Perform data recording operation through the left controller:
133133
<table style="width: 100%; border-collapse: collapse;">
134134
<thead>
135135
<tr style="background-color: black; color: white; text-align: left;">
@@ -152,7 +152,7 @@ Perform data recording operation through the VR left remote controller:
152152
<tr style="background-color: white; text-align: left;">
153153
<td style="padding: 8px; border: 1px solid #ddd;">Delete the current recording</td>
154154
<td style="padding: 8px; border: 1px solid #ddd;">Click button C on the left controller</td>
155-
<td style="padding: 8px; border: 1px solid #ddd;">If a recording is already in progress, click button C again will stop and delete the current recording, and it will not be written to disk.</td>
155+
<td style="padding: 8px; border: 1px solid #ddd;">If a recording is already in progress, click button C again will stop and delete the current recording (leave at least 5sec gap), and it will not be written to disk.</td>
156156
</tr>
157157
</tbody>
158158
</table>

‎docs/zh/Guide/R1/R1_Software_Changelog/ROS1/v1.1.8.md‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -42,14 +42,14 @@
4242
tar -xf ${your_download_path}/atc_standard-V1.1.8.tar.gz -C ~/
4343
```
4444

45-
### 更新驱动软件版本
45+
<!-- ### 更新驱动软件版本
4646
4747
一键升级所有本体驱动。
4848
4949
```Bash
5050
cd {your_download_path}/install/share/Embedded_Software_Firmware/tools/R1
5151
bash r1_embedded_firmware_upgrade.sh ../../R1/V1_1_8
52-
```
52+
``` -->
5353

5454
### 运行模块
5555

‎docs/zh/Guide/R1/R1_Software_Changelog/ROS2/v2.0.4.md‎

Lines changed: 16 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -50,8 +50,6 @@
5050

5151
`atc_navigation_V2.0.4.tar.gz`
5252

53-
`atc_host_standard_V2.0.4.tar.gz`
54-
5553
- 百度云：[ATC_SDK_V2.0.4](https://pan.baidu.com/s/1Qewogh-_Xa_wJ1zgcBWRSQ?pwd=v204)
5654
- Google Drive：[ATC_SDK_V2.0.4](https://drive.google.com/drive/folders/1ZQX9nKik3OO9LzeD6MqQF0x8Mf7VN5YD?usp=sharing)
5755

@@ -86,28 +84,34 @@ cd R1
8684
<span style="color:red;">**注意：更新完毕后，请关闭机器人电源并重新上电。**</span>
8785

8886
### 运行整机功能
89-
1. 在`atc_standard-V2.0.4.tar.gz`中：
87+
1. **在`atc_standard-V2.0.4.tar.gz`中，启动本体`R1 BODY`：**
9088

9189
```Bash
9290
cd install/startup_config/share/startup_config/script/
91+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1Body.d/
92+
```
9393

94-
# 启动R1 BODY:
95-
./robot_startup.sh boot ../session.d/ATCStandard/R1Body.d/
94+
2. **在`atc_standard-V2.0.4.tar.gz`中，启动VR遥操作功能`R1 VRTELEOP`：**
9695

97-
# 启动R1 VRTELEOP：
98-
./robot_startup.sh boot ../session.d/ATCStandard/R1VRTeleop.d/
96+
首先，在`~/.bashrc`文件末尾添加以下环境变量，即可连接机器和VR眼镜：
97+
```Bash
98+
ROS_IP=机器人的无线网卡IP
99+
VR_IP=连接同一wifi的VR眼镜的IP
99100
```
100101

101-
2. 在`atc_navigation-V2.0.4.tar.gz`中：
102-
102+
然后，启动VR遥操作：
103103
```Bash
104104
cd install/startup_config/share/startup_config/script/
105+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1VRTeleop.d/
106+
```
105107

106-
# 启动R1 NAVIGATION:
108+
3. **在`atc_navigation-V2.0.4.tar.gz`中，启动定位导航系统功能`R1 NAVIGATION`:**
109+
110+
```Bash
111+
cd install/startup_config/share/startup_config/script/
107112
./robot_startup.sh boot ../sessions.d/ATCNavigation/R1VRTeleopNAV.d/
108113
```
109-
![sdk_ros2_execute_cn](../assets/sdk_ros2_execute_cn.png)
110-
114+
111115
### 关闭整机功能
112116
执行以下命令，关闭上述操作开启的全部进程。
113117

‎docs/zh/Guide/R1Pro/R1Pro_Software_Changelog/ROS1/v1.1.8.md‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -38,7 +38,7 @@
3838
tar -xf ${your_download_path}/atc_standard-V1.1.8.tar.gz -C ~/
3939
```
4040

41-
### 更新驱动软件版本
41+
<!-- ### 更新驱动软件版本
4242
4343
1. 一键升级所有本体驱动。
4444
```Bash
@@ -49,7 +49,7 @@ tar -xf ${your_download_path}/atc_standard-V1.1.8.tar.gz -C ~/
4949
```Bash
5050
cd {your_download_path}/install/share/Embedded_Software_Firmware/tools/A2
5151
bash a2_embeded_firmware_upgrade.sh ../../R1PRO/V1_1_8
52-
```
52+
``` -->
5353

5454
### 运行模块
5555

‎docs/zh/Guide/R1Pro/R1Pro_Software_Changelog/ROS2/v2.0.4.md‎

Lines changed: 25 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
# Galaxea R1 Pro软件版本 - V2.0.3 - 更新日志
1+
# Galaxea R1 Pro软件版本 - V2.0.4 - 更新日志
22

33
## 更新说明
44

@@ -90,37 +90,48 @@ cd R1PRO
9090
<span style="color:red;">**注意：更新完毕后，请关闭机器人电源并重新上电。**</span>
9191

9292
### 运行整机功能
93-
1. 在`atc_standard-V2.0.4.tar.gz`中：
9493

94+
1. **在`atc_standard-V2.0.4.tar.gz`中，启动本体`R1PRO BODY`：**
9595
```Bash
9696
cd install/startup_config/share/startup_config/script/
97+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/
98+
```
9799

98-
# 启动R1PRO BODY:
99-
./robot_startup.sh boot ../session.d/ATCStandard/R1PROBody.d/
100+
2. **在`atc_standard-V2.0.4.tar.gz`中，启动VR遥操作功能`R1PRO VRTELEOP`：**
100101

101-
# 启动R1PRO VRTELEOP：
102-
./robot_startup.sh boot ../session.d/ATCStandard/R1PROVRTeleop.d/
102+
首先，在`~/.bashrc`文件末尾添加以下环境变量，即可连接机器和VR眼镜：
103+
```Bash
104+
ROS_IP=机器人的无线网卡IP
105+
VR_IP=连接同一wifi的VR眼镜的IP
103106
```
104107

105-
2. 在`atc_navigation-V2.0.4.tar.gz`中：
106-
108+
然后，启动VR遥操作：
107109
```Bash
108110
cd install/startup_config/share/startup_config/script/
111+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROVRTeleop.d/
112+
```
109113

110-
# 启动R1PRO NAVIGATION:
114+
3. **在`atc_navigation-V2.0.4.tar.gz`中，启动定位导航系统功能`R1PRO NAVIGATION`:**
115+
```Bash
116+
cd install/startup_config/share/startup_config/script/
111117
./robot_startup.sh boot ../sessions.d/ATCNavigation/R1PROVRTeleopNAV.d/
112118
```
113-
![sdk_ros2_execute_cn](../assets/sdk_ros2_execute_cn.png)
114119

115-
3. R1 Pro-T遥操作启动方式：
120+
4. **在`atc_host_standard-V2.0.4_x86.tar.gz`中，启动R1 Pro-T遥操作：**
116121

117-
先在R1 Pro机器上启动R1PRO BODY。
122+
首先，在R1 Pro内启动`atc_standard-V2.0.4.tar.gz`文件内的所有R1 Pro-T节点：
118123
```Bash
119124
cd install/startup_config/share/startup_config/script/
120-
./robot_startup.sh boot ../session.d/ATCStandard/R1PROBody.d/
125+
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/
126+
```
127+
128+
启动FDCAN通信：
129+
```Bash
130+
sudo ip link set dev can0 type can bitrate 1000000 dbitrate 5000000 fd on
131+
sudo ip link set up can0
121132
```
122133

123-
然后，在x86主机上启动同构遥操功能。
134+
然后，在X86主机上启动`atc_host_standard-V2.0.4_x86.tar.gz`文件内的同构遥操作：
124135
```Bash
125136
cd install/startup_config/share/startup_config/script/
126137
./robot_startup.sh boot ../sessions.d/ATCHostStandard/R1PROT.d/

0 commit comments

Comments
 (0)