Software Architecture¶
The control diagram of the current Galaxea R1 Pro is shown below. It mainly consists of a driver layer and a motion control layer. The driver layer includes the chassis, torso, dual arms, and various sensors; the motion control layer includes chassis control, joint angle control, arm pose control, and so on.
In the SDK, each part is encapsulated into multiple modules, detailed as follows:
| Module Name | Components | Related Launch File |
|---|---|---|
| HDAS | Arms Driver Interface Torso Driver Interface Chassis Driver Interface IMU Interface BMS Interface Remote Controller Interface |
r1pro.py |
| mobiman | Arm Joint Control Gripper Control Arm Pose Control Torso Joint Control Torso Speed Control Chassis Control End Effector Pose Estimation |
r1_pro_jointTrackerdemo.py r1_pro_left_arm_relaxed_ik.py r1_pro_right_arm_relaxed_ik.py r1_pro_chassis_control_launch.py torso_control_example_launch.py r1_gripperController.py |
| signal_camera | Camera Interface | signal_camera.py |
| livox_ros_driver2 | LiDAR Interface | msg_MID360_launch.py |