R1 Lite Software Introduction
Environment Dependency
- Hardware Dependency: R1 Lite Computing Unit
- OS Dependency: Ubuntu 20.04 LTS (Install dual systems on a PC without using a virtual machine.)
- Middleware Dependency: ROS Noetic
Software Version Changelog
This is the initial software release for the R1 Lite. For future version updates, you can check the R1 Lite Software Version Update Log to obtain the latest SDK package and update information.
First-Time Operation Guide
Refer to the Galaxea R1 Lite Unboxing and Startup Guide and follow the instructions to operate the R1 Lite.
Software Interface
Driver Interface
Arms Driver Interface
This interface is used for the robot arm control and status feedback ROS package, which defines multiple topics for publishing and subscribing to the arm's status, control commands, and associated error codes.
Below are detailed descriptions of each topic and its corresponding message types:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/feedback_arm_left | Output | Joint feedback of left arm | sensor_msgs::JointState |
| /hdas/feedback_arm_right | Output | Joint feedback of right arm | sensor_msgs::JointState |
| /hdas/feedback_gripper_left | Output | Gripper stroke of left gripper | sensor_msgs::JointState |
| /hdas/feedback_gripper_right | Output | Gripper stroke of right gripper | sensor_msgs::JointState |
| /hdas/feedback_status_arm_left | Output | Status of left arm | hdas_msg::feedback_status |
| /hdas/feedback_status_arm_right | Output | Status of right arm | hdas_msg::feedback_status |
| /hdas/feedback_status_gripper_left | Output | Status of left gripper | hdas_msg::feedback_status |
| /hdas/feedback_status_gripper_right | Output | Status of right gripper | hdas_msg::feedback_status |
| /motion_control/control_arm_left | Input | Motor control of left arm | hdas_msg::motor_control |
| /motion_control/control_arm_right | Input | Motor control of right arm | hdas_msg::motor_control |
| /motion_control/control_gripper_left | Input | Motor control of left gripper | hdas_msg::motor_control |
| /motion_control/control_gripper_right | Input | Motor control of right gripper | hdas_msg::motor_control |
| /motion_control/position_control_gripper_left | Input | Position control of left gripper | std_msgs::Float32 |
| /motion_control/position_control_gripper_right | Input | Position control of right gripper | std_msgs::Float32 |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /hdas/feedback_arm_left | header | Standard header |
| position | [Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, gripper_position] | |
| velocity | [Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, gripper_velocity] | |
| effort | [Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, gripper_effort] | |
| /hdas/feedback_arm_right | header | Standard header |
| position | [Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position, gripper_position] | |
| velocity | [Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity, gripper_velocity] | |
| effort | [Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort, gripper_effort] | |
| /hdas/feedback_gripper_left | header | Standard header |
| position | [gripper_stroke] | |
| velocity | Not used | |
| effort | Not used | |
| /hdas/feedback_gripper_right | header | Standard header |
| position | [gripper_stroke] | |
| velocity | Not used | |
| effort | Not used | |
| /hdas/feedback_status_arm_left | header | Standard header |
| name_id | Joint name | |
| errors | Contains error code and error description | |
| /hdas/feedback_status_arm_right | header | Standard header |
| name_id | Joint name | |
| errors | Contains error code and error description | |
| /hdas/feedback_status_gripper_left | header | Standard header |
| name_id | Joint name | |
| errors | Contains error code and error description | |
| /hdas/feedback_status_gripper_right | header | Standard header |
| name_id | Joint name | |
| errors | Contains error code and error description | |
| /motion_control/control_arm_left (Servo Mode) |
header | Standard header |
| name | - | |
| p_des | [Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position] | |
| v_des | [Joint1_velocity_max_limit, Joint2_velocity_max_limit, Joint3_velocity_max_limit, Joint4_velocity_max_limit, Joint5_velocity_max_limit, Joint6_velocity_max_limit] | |
| t_ff | [Joint1_effort_max_limit, Joint2_effort_max_limit, Joint3_effort_max_limit, Joint4_effort_max_limit, Joint5_effort_max_limit, Joint6_effort_max_limit] | |
| mode | - | |
| /motion_control/control_arm_left (Torque-Position-Mix Control Mode) |
header | Standard header |
| name | - | |
| p_des | [Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position] | |
| v_des | [Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity] | |
| kp | [Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp, Joint5_kp, Joint6_kp] | |
| kd | [Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd, Joint5_kd, Joint6_kd] | |
| t_ff | [Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort] | |
| mode | - | |
| /motion_control/control_arm_right (Servo Mode) |
header | Standard header |
| name | - | |
| p_des | [Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position] | |
| v_des | [Joint1_velocity_max_limit, Joint2_velocity_max_limit, Joint3_velocity_max_limit, Joint4_velocity_max_limit, Joint5_velocity_max_limit, Joint6_velocity_max_limit] | |
| t_ff | [Joint1_effort_max_limit, Joint2_effort_max_limit, Joint3_effort_max_limit, Joint4_effort_max_limit, Joint5_effort_max_limit, Joint6_effort_max_limit] | |
| mode | - | |
| /motion_control/control_arm_right (Torque-Position-Mix Control Mode) |
header | Standard header |
| name | - | |
| p_des | [Joint1_position, Joint2_position, Joint3_position, Joint4_position, Joint5_position, Joint6_position] | |
| v_des | [Joint1_velocity, Joint2_velocity, Joint3_velocity, Joint4_velocity, Joint5_velocity, Joint6_velocity] | |
| kp | [Joint1_kp, Joint2_kp, Joint3_kp, Joint4_kp, Joint5_kp, Joint6_kp] | |
| kd | [Joint1_kd, Joint2_kd, Joint3_kd, Joint4_kd, Joint5_kd, Joint6_kd] | |
| t_ff | [Joint1_effort, Joint2_effort, Joint3_effort, Joint4_effort, Joint5_effort, Joint6_effort] | |
| mode | - | |
| /motion_control/control_gripper_left | header | Standard header |
| name | - | |
| p_des | [gripper_position] | |
| v_des | [gripper_velocity] | |
| kp | [gripper_kp] | |
| kd | [gripper_kd] | |
| t_ff | [gripper_effort] | |
| mode | - | |
| /motion_control/control_gripper_right | header | Standard header |
| name | - | |
| p_des | [gripper_position] | |
| v_des | [gripper_velocity] | |
| kp | [gripper_kp] | |
| kd | [gripper_kd] | |
| t_ff | [gripper_effort] | |
| mode | - | |
| /motion_control/position_control_gripper_left | header | Standard header |
| data | desired_gripper_stroke, range (0 to 100) mm | |
| /motion_control/position_control_gripper_right | header | Standard header |
| data | desired_gripper_stroke, range (0 to 100) mm |
Torso Driver Interface
This interface is used for the torso control and status feedback ROS package, which defines multiple topics for publishing and subscribing to the status of the torso motors and control commands. Below are detailed descriptions of each topic and its corresponding message types:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/feedback_torso | Output | Joint feedback of torso | sensor_msgs/JointState |
| /hdas/feedback_status_torso | Output | Torso motor status feedback | hdas_msg::feedback_status |
| /motion_control/control_torso | Input | Motor control of torso | hdas_msg::motor_control |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /hdas/feedback_torso | header | Standard header |
| position | [joint1_position, joint2_position, joint3_position, 0] | |
| velocity | [joint1_velocity, joint2_velocity, joint3_velocity, 0] | |
| effort | [joint1_velocity, joint2_velocity, joint3_velocity, 0] | |
| /hdas/feedback_status_torso | header | Standard header |
| name_id | Joint name | |
| errors | Contains error code and error description | |
| /motion_control/control_torso | header | Standard header |
| name | - | |
| p_des | [Joint1_position, Joint2_position, Joint3_position, 0] | |
| v_des | [Joint1_velocity, Joint2_velocity, Joint3_velocity, 0] | |
| kp | [Joint1_kp, Joint2_kp, Joint3_kp, 0] | |
| kd | [Joint1_kd, Joint2_kd, Joint3_kd, 0] | |
| t_ff | [Joint1_effort, Joint2_effort, Joint3_effort, 0] | |
| mode | - |
Chassis Driver Interface
This interface is used for the chassis status feedback ROS package, which defines multiple topics to report the status of the chassis' motors. Below are detailed descriptions of each topic and its associated message types:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/feedback_chassis | Output | Feedback of chassis | sensor_msgs::JointState |
| /hdas/feedback_status_chassis | Output | Status of chassis | hdas_msg::feedback_status |
| /motion_control/control_chassis | Input | Motor control of chassis | hdas_msg::motor_control |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /hdas/feedback_chassis | header | Standard header |
| position | [angle_front_left, angle_front_right, angle_rear] | |
| velocity | [linear_velocity_front_left, linear_velocity_front_right, linear_velocity_rear 0.0, 0.0, 0.0] | |
| effort | [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] | |
| /hdas/feedback_status_chassis | header | Standard header |
| name_id | Joint name | |
| errors | Contains error code and error description | |
| /motion_control/control_chassis | header | Standard header |
| name | - | |
| p_des | [angle_front_left, angle_front_right, angle_rear] | |
| v_des | [linear_velocity_front_left, linear_velocity_front_right, linear_velocity_rear] | |
| kp | - | |
| kd | - | |
| t_ff | - | |
| mode | - |
Camera Interface
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/camera_wrist_left/color/image_raw/compressed | Output | Compressed Image from left wrist camera | sensor_msgs::CompressedImage |
| /hdas/camera_wrist_right/color/image_raw/compressed | Output | Compressed Image from right wrist camera | sensor_msgs::CompressedImage |
| /hdas/camera_wrist_left/aligned_depth_to_color/image_raw | Output | Depth Image from left wrist camera | sensor_msgs::Image |
| /hdas/camera_wrist_right/aligned_depth_to_color/image_raw | Output | Depth Image from right wrist camera | sensor_msgs::Image |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /hdas/camera_wrist_left/color/image_raw/compressed | header | Standard header |
| format | JPEG | |
| data | Image data | |
| /hdas/camera_wrist_right/color/image_raw/compressed | header | Standard header |
| format | JPEG | |
| data | Image data | |
| /hdas/camera_wrist_left/aligned_depth_to_color/image_raw | header | Standard header |
| height | Depend on settings | |
| width | Depend on settings | |
| encoding | 16UC1 | |
| is_bigendian | 0 | |
| step | Depend on settings | |
| data | Image data | |
| /hdas/camera_wrist_right/aligned_depth_to_color/image_raw | header | Standard header |
| height | Depend on settings | |
| width | Depend on settings | |
| encoding | 16UC1 | |
| is_bigendian | 0 | |
| step | Depend on settings | |
| data | Image data |
IMU Interface
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/imu_chassis | Output | Chassis IMU feedback | sensor_msgs::Imu |
| /hdas/imu_torso | Output | Torso IMU feedback | sensor_msgs::Imu |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /hdas/imu_chassis | header | Standard header |
| orientation.x | quaternion x | |
| orientation.y | quaternion y | |
| orientation.z | quaternion z | |
| orientation.w | quaternion w | |
| angular_velocity.x | Groyscope angular velocity x | |
| angular_velocity.y | Groyscope angular velocity y | |
| angular_velocity.z | Groyscope angular velocity z | |
| linear_acceleration.x | Linear acceleration x | |
| linear_acceleration.y | Linear acceleration y | |
| linear_acceleration.z | Linear acceleration z | |
| /hdas/imu_torso | header | Standard header |
| orientation.x | quaternion x | |
| orientation.y | quaternion y | |
| orientation.z | quaternion z | |
| orientation.w | quaternion w | |
| angular_velocity.x | Groyscope angular velocity x | |
| angular_velocity.y | Groyscope angular velocity y | |
| angular_velocity.z | Groyscope angular velocity z | |
| linear_acceleration.x | Linear acceleration x | |
| linear_acceleration.y | Linear acceleration y | |
| linear_acceleration.z | Linear acceleration z |
BMS Interface
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /hdas/bms | Output | Battery BMS information | hdas_msg::bms |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /hdas/bms | header | Standard header |
| voltage | Voltage in V | |
| current | Current in A | |
| capital | Capital in % |
Remote Controller Interface
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /controller | Output | Signal from remote controller | hdas_msg::controller_signal_stamped |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /controller | header | Standard header |
| data.left_x_axis | X axis of left joystick | |
| data.left_y_axis | Y axis of left joystick | |
| data.right_x_axis | X axis of right joystick | |
| data.right_y_axis | Y axis of right joystick | |
| mode | 2: Chassis control via controller 5: ECU takes over |
Motion Control Interface
- Arm Joint Control: This node is responsible for controlling each joint of the arm.
- Arm Pose Control: This node is responsible for controlling the arm to move to the target end-effector (ee) coordinate frame, which is divided into pose control for the left arm and the right arm.
- Torso Speed Control:This node is responsible for controlling the torso to move to the target floating base coordinate frame.
- Chassis Control: This node uses vector control to manage the R1 Lite chassis, allowing simultaneous velocity commands in three directions: x, y, and w.
Arm Joint Control
The arm joint control node is responsible for controlling each joint of the arm, with a total of 6 joints.
It can be launched using a command.
# Choose one of the following two launch files to start. The core difference lies in the joint speed limit parameters.
source ~/work/galaxea/install/setup.bash
roslaunch mobiman r1_lite_jointTrackerdemo.launch # Normal Mode
roslaunch mobiman r1_lite_jointTrackerdemo_fast.launch # High-Follow Mode
The interface is shown below.
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /motion_target/target_joint_state_arm_left | Input | Target position of each left arm joint | sensor_msgs::JointState |
| /motion_target/target_joint_state_arm_right | Input | Target position of each right arm joint | sensor_msgs::JointState |
| /hdas/feedback_arm_left | Input | Feedback of left arm motor | sensor_msgs::JointState |
| /hdas/feedback_arm_right | Input | Feedback of right arm motor | sensor_msgs::JointState |
| /hdas/feedback_torso | Input | Feedback of torso motor | sensor_msgs::JointState |
| /motion_control/control_arm_left | Output | Control of left arm motor | hdas_msg::motor_control |
| /motion_control/control_arm_right | Output | Control of right arm motor | hdas_msg::motor_control |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /motion_target/target_joint_state_arm_left /motion_target/target_joint_state_arm_right |
header | Standard ROS header |
| position | This is a vector of six elements. 6 joint target positions for each joint. | |
| velocity | This is a vector of six elements. Standing for max velocity of each joint during movement. | |
| /hdas/feedback_arm_left | - | Please refer to the Arm Driver Interface. |
| /hdas/feedback_arm_right | - | Please refer to the Arm Driver Interface. |
| /motion_control/control_arm_left | - | Please refer to the Arm Driver Interface. |
| /motion_control/control_arm_right | - | Please refer to the Arm Driver Interface. |
Arm Pose Control
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:
source ~/work/galaxea/install/setup.bash
roslaunch mobiman R1_Lite_left_arm_relaxed_ik.launch #MPC control of the left arm
roslaunch mobiman R1_Lite_right_arm_relaxed_ik.launch #MPC control of the right arm
The interface is shown below.
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /motion_target/target_pose_arm_left | Input | Target end-effector pose of the left arm | Geometry_msgs::PoseStamped |
| /motion_target/target_pose_arm_right | Input | Target end-effector pose of the right arm | Geometry_msgs::PoseStamped |
| /hdas/feedback_arm_left | Input | Feedback of arm joint | Sensor_msgs::JointState |
| /hdas/feedback_arm_right | Input | Feedback of arm joint | Sensor_msgs::JointState |
| /motion_control/control_arm_left | Output | Control of left arm motor | hdas_msg::motor_control |
| /motion_control/control_arm_right | Output | Control of right arm motor | hdas_msg::motor_control |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /motion_target/target_pose_arm_left /motion_target/target_pose_arm_right |
header | Standard Header |
| pose.position.x | Shift in x-direction | |
| pose.position.y | Shift in y-direction | |
| pose.position.z | Shift in z-direction | |
| pose.orientation.x | Orientation quaternion | |
| pose.orientation.y | Orientation quaternion | |
| pose.orientation.z | Orientation quaternion | |
| pose.orientation.w | Orientation quaternion | |
| /hdas/feedback_arm_left | - | Please refer to the Arm Driver Interface. |
| /hdas/feedback_arm_right | - | Please refer to the Arm Driver Interface. |
| /motion_control/control_arm_left | - | Please refer to the Arm Driver Interface. |
| /motion_control/control_arm_right | - | Please refer to the Arm Driver Interface. |
Torso Speed Control
Torso Speed Control is a ROS package for controlling torso movement to the target floating base frame. It can be launched using the following command:
The interface is shown as follows:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /motion_target/target_joint_state_torso | Input | Target Joint position of each joint of torso | Sensor_msgs::JointState |
| /hdas/feedback_torso | Input | Feedback of torso joint | Sensor_msgs::JointState |
| /motion_control/control_torso | Output | Control of torso motor | hdas_msg::motor_control |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /motion_target/target_speed_torso | target_speed.v_x = msg->linear.x | Linear velocity in the x direction of the torso in Cartesian space； Range: [-0.2, 0.2] m/s Constraint: -0.1 ≤ x ≤ 0.2 |
| target_speed.v_z = msg->linear.z | Linear velocity in the z direction of the torso in Cartesian space； Range: [-0.2, 0.2] m/s Constraint: -0.1 ≤ x ≤ 0.7 |
|
| target_speed.v_pitch = msg->twist.angular.y | Pitch angular velocity of the torso in Cartesian space | |
| target_speed.v_yaw = msg->twist.angular.z | Yaw angular velocity of the torso in Cartesian space | |
| /hdas/feedback_torso | - | Refer to the Torso Driver Interface |
Chassis Control
R1 Chassis Control is the node that controls the R1 chassis using vector control, allowing you to send speed commands in three directions simultaneously: x, y, and w. It can be launched using a command.
source ~/work/galaxea/install/setup.bash
roslaunch mobiman r1_lite_chassis_control_w_o_eepose.launch
This launch file will bring up one node: r1_lite_chassis_control_node. The r1_lite_chassis_control_node is responsible for R1 Lite chassis speed control.
The interface is shown below:
| Topic Name | I/O | Description | Message Type |
|---|---|---|---|
| /motion_target/target_speed_chassis | Input | The target velocity of the chassis, including vx, vy, and omega. | geometry_msgs::Twist |
| /motion_target/chassis_acc_limit | Input | The acceleration limits of the chassis, with maximum values of 2.5, 1.0, and 1.0 respectively. | geometry_msgs::Twist |
| /motion_target/brake_mode | Input | Issue a command to determine whether the chassis enters brake mode. If in brake mode, when the speed is 0, the chassis will lock itself by rotating the wheels to a certain angle. | std_msgs::Bool |
| /hdas/feedback_chassis | Input | The R1 Lite chassis control subscribes to this topic to control the target velocity of the chassis. | sensor_msgs::JointState |
| /motion_control/control_chassis | Output | The R1 Lite chassis control publishes this topic to control the motors. | hdas_msg::motor_control |
The specific fields and their detailed descriptions for the above topic are shown in the table below:
| Topic Name | Field | Description |
|---|---|---|
| /motion_target/target_speed_chassis | header | Standard ROS header |
| linear | control of linear speed | |
| .x | linear_speed of x, range (-1.5 to 1.5) m/s | |
| .y | linear_speed of y, range (-1.5 to 1.5) m/s | |
| angular | control of yaw rate | |
| .z | control of angular speed, range (-3 to 3) rad/s | |
| /motion_target/chassis_acc_limit | header | Standard ROS header |
| linear | Acc limit of linear speed | |
| .x | Acc limit of x, range (-2.5 to 2.5) m/s² | |
| .y | Acc limit of y, range (-1.0 to 1.0) m/s² | |
| angular | control of yaw rate | |
| .z | Acc limit of angular speed, range (-3 to 3) rad/s² | |
| /motion_target/brake_mode | data | Bool True for entering brake mode; False for quitting brake mode. |
| /hdas/feedback_chassis | - | Refer to HDAS msg Description |
| /motion_control/control_chassis | - | Refer to HDAS msg Description |