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Get the SDK

Update Notes

  1. Do not stop the system or perform any control operations during the upgrade. Doing so may cause the upgrade to fail and affect normal operation of the system.
  2. After the upgrade is complete, power off the robot and power it on again to ensure that the system update takes full effect.

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

1. Download the SDK

The Navigation package is an add-on paid feature. For details, please contact your sales representative!

2. Extract the 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 whether CAN data is normal

Alternatively, run the following commands 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 whether CAN data is normal

Use the opt/galaxea/body/hardware.json configuration file. If this file is missing from the robot, contact the after-sales team to update the configuration.

# Terminal 2: cd ~/ && source install/setup.bash
cd ~/install/Embedded_Software_Firmware/share/tools
python3 ota_xcu.py

The OTA process then runs in sequence. After a few seconds, the message "GET OTA finished!" indicates that the update succeeded.

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

4. Launching the SDK

ATC STANDARD(ARM64)

For 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/
# 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 teleoperation
# # R1 Isomorphic Teleop: // R1 startup for R1T
# ./robot_startup.sh boot ../session.d/ATCStandard/R1IsomorphicTeleop.d/
# R1 Pro Isomorphic Teleop.d: // R1PRO startup for R1PROT
./robot_startup.sh boot ../session.d/ATCStandard/R1PROIsomorphicTeleop.d/

ATC HostStandard(x86_64)

For R1 Pro-T and R1 Lite-T

cd install/share/startup_config/script/
# R1 Lite-T:
./robot_startup.sh boot ../session.d/ATCHostStandard/R1LITET.d/
# # R1-T:
# ./robot_startup.sh boot ../session.d/ATCHostStandard/R1T.d/
# R1 Pro-T:
./robot_startup.sh boot ../session.d/ATCHostStandard/R1PROT.d/

ATC STANDARD(x86_64)

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 Navigation(ARM64)

For the R1 Pro navigation feature

cd install/share/startup_config/script/
./robot_startup.sh boot ../session.d/ATCNavigation/R1PROVRTeleopNAV.d/

ATC System(ARM64)

For R1 Pro system features

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