Galaxea AI

https://docs.galaxea-ai.com/Guide
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### Start HDAS Node (Workspace)

Source: https://docs.galaxea-ai.com/Guide/A1XY/startup_demo/A1XY_Startup_Demo_Guide

Navigate to the workspace install directory, source the setup script, and then launch the HDAS node.

```bash
cd {workspace}/install && source setup.bash
roslaunch HDAS A1XY.launch
```

--------------------------------

### Initialize A1 SDK

Source: https://docs.galaxea-ai.com/Guide/A1/A1_Software_Guide

Navigate to the SDK installation directory, source the setup script, and launch the single arm node.

```bash
cd A1_SDK/install
source setup.bash
roslaunch signal_arm single_arm_node.launch

```

--------------------------------

### Start Joint Control Demo

Source: https://docs.galaxea-ai.com/Guide/A1XY/startup_demo/A1XY_Startup_Demo_Guide

Source the workspace setup script and then launch the joint control demo for either A1X or A1Y models.

```bash
cd {workspace}/install && source setup.bash

# Depending on the product model, select one of the following startup methods:
roslaunch mobiman a1x_jointTrackerdemo.launch
roslaunch mobiman a1y_jointTrackerdemo.launch
```

--------------------------------

### Source SDK Setup Script

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Guide_ros1

Source the ROS 1 environment setup script before launching any ROS nodes. Replace {your_download_path} with the actual path to your SDK installation.

```bash
source {your_download_path}/install/setup.bash
```

--------------------------------

### One-Command R1 Pro SDK Startup

Source: https://docs.galaxea-ai.com/Guide/R1Pro/software_introduction/R1Pro_Software_Introduction_ROS1

This command starts all drivers and motion control interfaces simultaneously. It requires tmux and tmuxp to be installed.

```bash
sudo apt-get install tmux tmuxp
cd ~{your_download_path}/install/share/startup_config/script
./ota_script.sh boot ../session.d/ATCStandard/R1PROBody.d/
```

--------------------------------

### Run Initial Self-Check

Source: https://docs.galaxea-ai.com/Guide/R1Pro/unboxing/R1Pro_Unbox_Startup_Guide

Navigate to the install directory, source the setup script, and run the ROS 2 node for the initial self-check. Press Enter to commence the test.

```bash
cd ~/galaxea/install
source setup.bash
ros2 run rds_ros rds_ros_node 
```

--------------------------------

### Install tmux and tmuxp

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Guide_ros2

Install the tmux and tmuxp utilities, which are required for the one-command startup script.

```bash
sudo apt-get install tmux tmuxp
```

--------------------------------

### Execute One-Command Startup Script

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Guide_ros2

Navigate to the script directory and execute the 'ota_script.sh boot' command to start all drivers and motion control interfaces simultaneously. Ensure you are in the correct directory after sourcing the setup script.

```bash
cd {your_download_path}install/share/startup_config/script
./ota_script.sh boot
```

--------------------------------

### Install tmux and Start Robot Script

Source: https://docs.galaxea-ai.com/Guide/R1Pro/software_introduction/R1Pro_Software_Guide_ROS2

Installs the tmux package and executes a robot startup script. This command starts all drivers and motion control interfaces.

```bash
sudo apt-get install tmux tmuxp
cd ~{your_download_path}/install/share/startup_config/script
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/
```

--------------------------------

### Start Robot Control Node

Source: https://docs.galaxea-ai.com/Guide/R1Pro/unboxing/R1Pro_Unbox_Startup_Guide

After setting up the CAN driver, create a new terminal and run this command to source the setup script and start the robot control node.

```bash
source  {your_download_path}/install/setup.bash
cd {your_download_path}/install/startup_config/share/startup_config/script
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROBody.d/
```

--------------------------------

### Start R1 Body Module

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Changelog/ROS2/v2.0.4

Executes the R1 Body startup script from the installed package. This command is used to initiate the R1 Body module.

```bash
cd install/startup_config/share/startup_config/script/

./robot_startup.sh boot ../sessions.d/ATCStandard/R1Body.d/

```

--------------------------------

### Run ROS 2 Node for Whole-Machine Self-Test

Source: https://docs.galaxea-ai.com/Guide/R1Lite/unboxing/ros2/R1Lite_Unbox_Startup_Guide_ros2

Navigate to the installation directory, source the setup bash file, and then run the 'rds_ros_node' ROS 2 node to initiate the whole-machine self-test. Ensure CAN and HDAS start successfully.

```bash
cd ~/galaxea/install
source setup.bash
ros2 run rds_ros rds_ros_node
```

--------------------------------

### Install Python 3

Source: https://docs.galaxea-ai.com/Guide/ros_upgrade_guide_all/ros2_upgrade_guide_pro

Run this command on the host to set up the Python environment.

```bash
sudo apt install python3

```

--------------------------------

### Launch A1 EE Tracker Demo

Source: https://docs.galaxea-ai.com/Guide/A1/A1_Software_Guide

Source the setup script and launch the eeTracker demo node from the A1 SDK.

```bash
cd A1_SDK/install
source setup.bash
roslaunch mobiman eeTrackerdemo.launch

```

--------------------------------

### Navigate and Run ROS2 Node

Source: https://docs.galaxea-ai.com/Guide/R1Pro/unboxing/R1Pro_Unbox_Startup_Guide

Navigate to the install directory and source the setup script before running the rds_ros node. This is typically done after launching the robot control node.

```bash
cd ~/galaxea/install 
source setup.bash 
ros2 run rds_ros rds_ros_node
```

--------------------------------

### Launch ROS Node

Source: https://docs.galaxea-ai.com/Guide/R1Lite/software_introduction/ros1/R1Lite_Software_Introduction_ros1

Source the ROS environment and then use roslaunch to start specific nodes. This example shows how to launch the HDAS node.

```bash
source {sdk_path}/install/setup.bash
roslaunch <Package Name> <Launch File>
# Example
roslaunch HDAS r1lite.launch

```

--------------------------------

### Install Flashtool Dependencies

Source: https://docs.galaxea-ai.com/Guide/ros_upgrade_guide_all/ros2_upgrade_guide_pro

Install necessary dependencies for the flashtool, including qemu-user-static, and run the prerequisite script. If locked by packagekitd, kill the process and rerun.

```bash
# First-time setup
sudo apt install qemu-user-static -y
sudo ./flashtool/Linux_for_Tegra/tools/l4t_flash_prerequisites.sh

# If locked by packagekitd:
# Kill the process (kill -9 <pid>) and rerun the script.

```

--------------------------------

### Example: Launch HDAS Driver

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Guide_ros2

Example of launching the HDAS (Hardware Driver Abstraction System) package using its 'r1.py' launch file.

```bash
ros2 launch HDAS r1.py
```

--------------------------------

### Install IsaacSim

Source: https://docs.galaxea-ai.com/Guide/R1Pro/isaacsim/r1pro_isaacsim_guide

Commands to download, extract, and set up IsaacSim. Ensure you replace 'the_file_you_just_downloaded.zip' with the actual downloaded filename.

```bash
mkdir ~/isaacsim
cd ~/Downloads
unzip "the_file_you_just_downloaded.zip" -d ~/isaacsim
cd ~/isaacsim
./post_install.sh
./isaac-sim.selector.sh
```

--------------------------------

### Example: Launch HDAS Package

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Guide_ros1

Example of launching the HDAS ROS package with the r1.launch file, used for controlling various R1 robot interfaces.

```bash
roslaunch HDAS r1.launch
```

--------------------------------

### One-Click Startup Script

Source: https://docs.galaxea-ai.com/Guide/R1Lite/software_introduction/ros2/R1Lite_Software_Introduction_ros2

Execute this script to start all drivers and motion control interfaces simultaneously. Ensure you are in the correct directory.

```bash
cd {sdk_path}/install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCStandard/R1LITEBody.d
```

--------------------------------

### Source ROS 2 Environment

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Guide_ros2

Before launching any ROS 2 nodes, source the ROS 2 environment setup script. Replace {your_download_path} with the actual path to your R1 SDK installation.

```bash
source {your_download_path}install/setup.bash
```

--------------------------------

### Start CAN Communication

Source: https://docs.galaxea-ai.com/Guide/sdk_change_log/ros2/v2.2.1

Execute these commands to initiate CAN communication. Ensure CAN data is normal after starting.

```bash
bash ~/can.sh
candump can0 //Check if CAN data is normal
```

```bash
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 if CAN data is normal
```

--------------------------------

### Start Robot Teleoperation

Source: https://docs.galaxea-ai.com/Guide/R1Pro/vr_teleop/ros2/R1Pro_VR_Teleop_Usage_Tutorial_ros2

Execute these commands to kill any existing robot processes and then boot the robot with the VR teleoperation configuration.

```bash
cd /home/nvidia/galaxea/install/startup_config/share/startup_config/script/ 
./robot_startup.sh kill 
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROVRTeleop.d/
```

--------------------------------

### Launch R1 Teleoperation

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Teleop_Usage_Tutorial

Navigate to the SDK installation path and execute the script to launch the R1 teleoperation mode. Replace `{your_path}` with the actual installation directory.

```bash
cd {your_path}/install/share/startup_config/script
./ota_script.sh boot

```

--------------------------------

### Install Additional Dependencies

Source: https://docs.galaxea-ai.com/Guide/R1Lite/vr_teleop/ros2/R1Lite_VR_Teleop_Usage_Tutorial_ros2

Install necessary ROS 2 packages and Python libraries for VR teleoperation. This command requires sudo privileges.

```bash
sudo apt install ros-humble-rosbag2-storage-mcap
pip3 install websockets pyquaternion tos 

```

--------------------------------

### Start R1 Lite Teleop Nodes

Source: https://docs.galaxea-ai.com/Guide/R1Lite/isomorphic_teleop/ros1/R1Lite_Teleopration_Usage_Tutorial_ros1

Run this command to start the R1 Lite Teleoperation nodes. Verify that all linkages are at their zero position and Bluetooth controllers are connected.

```bash
cd ${R1Lite-T_SDK_path}/install/share/startup_config/script/
./robot_startup.sh boot ../session.d/ATCHostStandard/R1LITET.d/
```

--------------------------------

### Install Dependencies and Configure EDP Authentication

Source: https://docs.galaxea-ai.com/Guide/edp_setup/EDP_setup

Installs necessary Python packages and ROS dependencies, then creates a configuration file for EDP authentication with placeholder keys.

```bash
# Install dependencies
sudo apt install python3-pip
pip3 install tos
sudo apt install ros-humble-rosbag2-storage-mcap

# Create configuration path
mkdir -p /opt/galaxea/data_collection

# Create EDP authentication file
vim /opt/galaxea/data_collection/edp_credentials.json 

# Write the following content and save
{
  "access_key": "xxx", # Replace account key
  "secret_key": "xxx"  # Replace account key
}
```

--------------------------------

### Start R1 Lite Teleop Nodes

Source: https://docs.galaxea-ai.com/Guide/R1Lite/isomorphic_teleop/ros2/R1Lite_Teleopration_Usage_Tutorial_ros2

Execute this script to start all nodes for R1 Lite Teleoperation on the host computer. Ensure Bluetooth controllers are connected and paired.

```bash
# After navigating to the directory containing the script, execute the script.
cd ${R1Lite-T_SDK_path}/install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCHostStandard/R1LITET.d/

```

--------------------------------

### Install Python Dependencies

Source: https://docs.galaxea-ai.com/Guide/R1/R1_VR_Teleop_Usage_Tutorial

Installs necessary Python libraries, `websockets` and `pyquaternion`, for the VR teleoperation system. This command should be run after the SDK has been decompressed.

```bash
pip3 install websockets pyquaternion

```

--------------------------------

### Install A1XY SDK

Source: https://docs.galaxea-ai.com/Guide/A1XY/startup_demo/A1XY_Startup_Demo_Guide

Extract the downloaded SDK package to the desired directory. Ensure the path to the downloaded file is correct.

```bash
tar -xf ${your_download_path}/A1_XY.tar.gz -C ~/
```

--------------------------------

### Start ROS Core

Source: https://docs.galaxea-ai.com/Guide/A1XY/startup_demo/A1XY_Startup_Demo_Guide

Launch the ROS master node. This is a prerequisite for running ROS nodes and packages.

```bash
roscore
```

--------------------------------

### Launch Joint Tracking Demo

Source: https://docs.galaxea-ai.com/Guide/R1Lite/software_introduction/ros1/R1Lite_Software_Introduction_ros1

Starts the joint tracking demo for R1Lite. Ensure the SDK environment is sourced before running.

```bash
source sdk_path/install/setup.bash
ros launch mobiman r1_lite_jointTrackerdemo.launch
```

--------------------------------

### Configure and Start CAN Driver

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Changelog/ROS2/v2.0.4

Configures and brings up the CAN interface with specified bitrates and sample points. This is typically run in a separate terminal.

```bash
# Terminal 1
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

```

--------------------------------

### Run R1 Second Self-Check

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Step_by_Step_Guide

Execute this command in a new terminal after completing initial setup and CAN driver start. Press '1' to confirm the self-check for installed arms.

```bash
source work/galaxea/install/setup.bash
rosrun HDAS check_node #after executed the command, please press 1. (1 means the self-check when the arms are installed.)

```

--------------------------------

### Start Hardware and ROS Interfaces

Source: https://docs.galaxea-ai.com/Guide/A1XY/startup_demo/A1XY_Startup_Demo_Guide

Enable the hardware interface and ROS interface for robot control. Select the appropriate launch file based on the product model (A1X or A1Y).

```bash
source {workspace}/install/setup.bash

# Depending on the product model, select one of the following startup methods:
roslaunch mobiman a1x_jointTrackerdemo.launch
roslaunch mobiman a1y_jointTrackerdemo.launch
```

--------------------------------

### Start SDK

Source: https://docs.galaxea-ai.com/Guide/A1/A1_Software_Guide

Commands to set up and launch the A1 SDK, including modifying serial port permissions and initializing the ROS nodes for the single arm.

```APIDOC
## Start SDK

**Note: After reconnecting the USB cable each time, make sure to execute the following commands.**

1. After confirming the power and USB connection, run the following command to modify the serial port file's read and write permissions:
```bash
sudo chmod 777 /dev/ttyACM0
```

2. After confirming the modification, initialize the SDK:
```bash
cd A1_SDK/install
source setup.bash
roslaunch signal_arm single_arm_node.launch
```
```

--------------------------------

### Configuration File Example

Source: https://docs.galaxea-ai.com/Guide/R1Lite/isomorphic_teleop/ros1/R1Lite_Teleopration_Usage_Tutorial_ros1

This JSON structure defines project and task information for data collection. Ensure all fields are correctly populated.

```json
{
   "project_info": {
        "project_name": "test"},
   "task_info": {
        "task_name": "test_data_collection",
        "task_owner": "galaxea" }
    "operation_info": {
        "teleoperation_type": "teleop",
        "location": "suzhou",
        "operator_name": "galaxea"}
}
```

--------------------------------

### Launch Robot Startup Script

Source: https://docs.galaxea-ai.com/Guide/R1Pro/vr_teleop/ros2/R1Pro_VR_Teleop_Usage_Tutorial_ros2

Navigate to the startup script directory and execute the robot startup script. This prepares the robot for teleoperation.

```bash
cd /home/nvidia/galaxea/install/startup_config/share/startup_config/script/

```

```bash
./robot_startup.sh boot ../sessions.d/ATCStandard/R1PROVRTeleop.d/

```

--------------------------------

### Start Chassis Control

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Step_by_Step_Guide

Sources the R1 workspace setup and launches the chassis control node, enabling control over the robot's base movement.

```bash
source ~/work/galaxea/install/setup.bash
roslaunch mobiman r1_chassis_control.launch
```

--------------------------------

### Start Torso and Arm Control

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Step_by_Step_Guide

Sources the R1 workspace setup and launches the joint tracking demo for controlling the robot's torso and arms.

```bash
source ~/work/galaxea/install/setup.bash
roslaunch mobiman r1_jointTrackerdemo.launch
```

--------------------------------

### Execute SDK startup command

Source: https://docs.galaxea-ai.com/Guide/ros2_discovery_service/ros2_discovery_service_guide

Run the robot startup script with the appropriate arguments. Note that the body package does not include the discovery service.

```bash
./robot_startup.sh boot ../session.d/*** 

```

--------------------------------

### Start R1 Self-Check

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Demo_Guide

Source the ROS environment and run the self-check node for the R1 robot, specifically for arm installation. This is done in a new TMUX terminal.

```bash
source {your_download_path}/install/setup.bash
rosrun HDAS check_node 
#press 1 (1 means the self-check when the arms are installed.)

```

--------------------------------

### Launch Joint Angle Motion Script

Source: https://docs.galaxea-ai.com/Guide/A1/A1_Software_Guide

Execute these commands in the terminal to launch the joint angle motion script and start RViz visualization. Ensure you are in the correct directory and have sourced the setup script.

```bash
cd A1_SDK/install
source setup.bash
roslaunch mobiman jointTrackerdemo.launch
```

--------------------------------

### One-Click SDK Launch

Source: https://docs.galaxea-ai.com/Guide/R1Lite/software_introduction/ros1/R1Lite_Software_Introduction_ros1

Execute this script to start all drivers and motion control interfaces simultaneously. Navigate to the script directory first.

```bash
cd {sdk_path}/install/share/startup_config/script/
./robot_startup.sh boot ../session.d/ATCStandard/R1LITEBody.d

```

--------------------------------

### Start Robot Startup Script

Source: https://docs.galaxea-ai.com/Guide/R1Pro/navigation_guide/R1Pro_Autonomous_Navigation_System_Usage_Tutorial

Navigate to the startup scripts directory on the R1 Pro and execute the robot startup script. This command initiates the necessary nodes for navigation and teleoperation.

```bash
cd ~/galaxea/install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCNavigation/R1PROVRTeleopNAV.d/
```

--------------------------------

### Launch End-Effector Trajectory Script

Source: https://docs.galaxea-ai.com/Guide/A1/A1_Software_Guide

Navigate to the A1 SDK installation directory, source the setup script, and launch the end-effector trajectory tracking demo. Ensure RViz is running with default joint positions set to zero.

```bash
cd A1_SDK/install
source setup.bash
roslaunch mobiman eeTrajTrackerdemo.launch
```

--------------------------------

### Execute Robot Startup Modules

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Changelog/ROS1/v1.1.8

Execute these commands to start the R1 Body and R1 VR Teleoperation modules after extracting the update package.

```Bash
cd {your_download_path}/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/
```

--------------------------------

### Install can-utils on Ubuntu

Source: https://docs.galaxea-ai.com/Guide/R1Lite/faq/R1Lite_FAQ

Installs the can-utils package on Ubuntu 20.04 for CAN bus communication.

```bash
sudo apt install can-utils

```

--------------------------------

### Navigate to Wrist Camera Configuration Directory

Source: https://docs.galaxea-ai.com/Guide/R1Pro/vr_teleop/ros2/R1Pro_VR_Teleop_Usage_Tutorial_ros2

Change the current directory to the launch files for wrist camera configuration. This is a prerequisite for camera setup.

```bash
cd /home/nvidia/galaxea/install/realsense2_camera/share/realsense2_camera/launch

```

--------------------------------

### Launch R1 Pro-T SDK

Source: https://docs.galaxea-ai.com/Guide/R1Pro/isomorphic_teleop/R1Pro_Teleop_Usage_Tutorial_ros2

Launches all necessary nodes for the R1 Pro-T using a quick start script. This command should be executed on the R1 Pro-T host computer after FDCAN configuration.

```bash
cd ${SDK_path}/install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCHostStandard/R1PROT.d/

```

--------------------------------

### Install RosBridge Suite

Source: https://docs.galaxea-ai.com/Guide/ehi_setup/ehi_setup_guide

Install the rosbridge-suite package on the robot's system. This is required for communication between ROS and other applications.

```bash
sudo apt install ros-humble-rosbridge-suite

```

--------------------------------

### Launch Dependency Programs for Check Tool

Source: https://docs.galaxea-ai.com/Guide/check_tool/check_tool_usage_tutorial

Ensure CAN and HDAS nodes are launched before starting diagnosis. Source the setup.bash script in the galaxea/install directory for ROS2, or the galaxea directory for ROS1.

```bash
//ros2
cd galaxea/install
source setup.bash
ros2 run rds_ros rds_ros_node
```

```bash
//ros1
cd galaxea
source install/setup.bash
roslaunch rds_ros rds_check.launch
```

--------------------------------

### Start R1 Teleoperation Script

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Teleop_Usage_Tutorial

Execute this script to start the R1 robot for teleoperation. Ensure you are in the correct directory.

```bash
cd ~/work/galaxea/install/share/startup_config/script
./ota_script.sh boot_teleop     

```

--------------------------------

### Install ROS1 Dependencies

Source: https://docs.galaxea-ai.com/Guide/R1Pro/isomorphic_teleop/R1Pro_Teleop_Usage_Tutorial_ros1

Installs essential ROS1 packages for joy, trac-ik, and tmux on the R1 Pro-T host computer.

```bash
sudo apt install ros-noetic-joy 
sudo apt install ros-noetic-trac-ik
sudo apt install tmuxp
sudo apt install tmux

```

--------------------------------

### Install Software Dependencies

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Teleop_Usage_Tutorial

Installs necessary ROS packages and tmux for R1 Teleop. Ensure your ROS environment is sourced before running.

```bash
sudo apt install ros-noetic-trac-ik
sudo apt install ros-noetic-joy
sudo apt install tmux tmuxp

```

--------------------------------

### Install DEB Package on Robot

Source: https://docs.galaxea-ai.com/Guide/ehi_setup/ehi_setup_guide

Install the EHI gateway DEB package on the robot using dpkg. This command requires superuser privileges.

```bash
sudo dpkg -i /tmp/ehi-gateway_1.0.0_all.deb

```

--------------------------------

### Start R1 Base Program

Source: https://docs.galaxea-ai.com/Guide/R1/R1_VR_Teleop_Usage_Tutorial

SSH into the R1 robot and navigate to the software package startup directory to initiate the base program.

```bash
ssh nvidia@${R1_IP}
```

```bash
cd ~/vr_workspace/install/share/startup_config/script/
```

```bash
ROS_IP=${R1_IP} ROS_MASTER_URI=http://${R1_IP}:11311 VR_IP=${VR_IP} ./ota_script.sh boot
```

--------------------------------

### Launch Startup Modules

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Software_Changelog/ROS1/v1.0.4

Installs tmux if not already present and then launches HDAS/motion control modules in separate tmux windows using the ota_script.sh.

```bash
sudo apt-get install tmux tmuxp # skip this if installed
cd ~/work/galaxea/install/share/startup_config/script
./ota_script.sh boot # launch HDAS/motion control in different tmux windows
```

--------------------------------

### Execute Open Box Demo Script

Source: https://docs.galaxea-ai.com/Guide/R1Pro/demo/R1Pro_Demo_Guide

In another new terminal, source the setup file and navigate to the mobiman scripts directory to run the 'r1pro_test_open_box.py' script. This initiates the robot's demo actions.

```python
source {your_download_path}/install/setup.bash
cd {your_download_path}/install/mobiman/share/mobiman/scripts
python3 r1pro_test_open_box.py
```

--------------------------------

### Start R1 Lite Nodes

Source: https://docs.galaxea-ai.com/Guide/R1Lite/isomorphic_teleop/ros2/R1Lite_Teleopration_Usage_Tutorial_ros2

Execute this script to start all necessary nodes for the R1 Lite robot. Navigate to the script directory first.

```bash
# After navigating to the directory containing the script, execute the script.
cd ~{your_download_path}/install/startup_config/share/startup_config/script/
./robot_startup.sh boot ../sessions.d/ATCStandard/R1LITEBody.d/

```

--------------------------------

### Start CAN Driver

Source: https://docs.galaxea-ai.com/Guide/R1/R1_Sensor_Calibration_Data_Collection_Method

Configure and bring up the CAN interface (can0) with specified bitrates for communication. If the device is already in use, a 'Device or resource busy' message will appear.

```bash
sudo ip link set dev can0 type can bitrate 1000000 dbitrate 5000000 fd on
# If "RTNETLINK answers: Device or resource busy" appears, it indicates that the CAN transceiver has been configured and is currently running.
sudo ip link set up can0

```

--------------------------------

### Install Additional Dependencies

Source: https://docs.galaxea-ai.com/Guide/R1Pro/vr_teleop/ros2/R1Pro_VR_Teleop_Usage_Tutorial_ros2

Install required ROS 2 packages and Python libraries for VR teleoperation. This includes rosbag2-storage-mcap and websockets, pyquaternion, tos.

```bash
sudo apt install ros-humble-rosbag2-storage-mcap     pip3 install websockets pyquaternion tos

```

--------------------------------

### Launch Host Computer Control Program

Source: https://docs.galaxea-ai.com/Guide/R1Pro/unboxing/R1Pro_Unbox_Startup_Guide

After self-checks, source the setup script and navigate to the mobiman scripts directory to launch the R1 Pro open box test program.

```bash
source ~/galaxea/install/setup.bash
cd ~/galaxea/install/mobiman/share/mobiman/scripts/robotOpenbox/R1Pro 
python3 r1pro_test_open_box.py
```

--------------------------------

### Install Fuse Dependencies for AppImage

Source: https://docs.galaxea-ai.com/Guide/ehi_setup/ehi_setup_guide

Install necessary fuse libraries before running the AppImage executable for the first time. This command requires superuser privileges.

```bash
sudo apt install fuse libfuse2

```

--------------------------------

### Create Galaxea Directory and Set Permissions

Source: https://docs.galaxea-ai.com/Guide/edp_setup/EDP_setup

Creates the necessary directory structure for Galaxea and sets ownership based on the robot model (R1 Pro or R1 Lite).

```bash
# Create path
sudo mkdir -p /opt/galaxea

# Change permissions
## If your robot product is R1 Pro:
sudo chown -R nvidia:nvidia /opt/galaxea
## If your robot product is R1 Lite:
sudo chown -R r1lite:r1lite /opt/galaxea
```
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