Installation and Configuration

System Requirements

Component	Recommended	Support Range
Operating System	Ubuntu 22.04	Ubuntu 20.04 - 24.04
Architecture (PC)	x86_64	x86_64
Architecture (Robot)	aarch64	aarch64
Python	3.8+	3.8 - 3.14
Storage Space	16GB	3GB+

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Mode 1: Robot-Side Deployment

Use Case: Production environment deployment, applications requiring high real-time performance

Features: No network latency, minimal communication overhead

1. Connect to Robot Network

1.1 After powering on, connect to WiFi in the network selection interface

1.2 Check the robot's IP address in the Network interface

2. Deploy SDK to Robot

2.1 Execute the deployment script on PC

cd GalbotSDK
./deploy_to_robot.sh

2.2 Enter connection information as prompted

• Username: galbot
• Orin IP address: e.g., 192.168.120.180
• Password: gb@2023

Deployment Result

Dynamic library automatically installed to: /data/galbot/lib

2.3 Verify installation

ssh galbot@<Robot IP>
ls /data/galbot/lib | grep galbot_sdk

Expected Output

Displays libgalbot_sdk.so and libgalbot_sdk.so.1.7.0

3. Install SDK on PC

Navigate to the SDK directory and execute the installation script

cd GalbotSDK
sudo ./install.sh

4. Compile Programs

4.1 Cross-compile on PC (aarch64)

cd examples/cpp/
mkdir -p build
cd build
cmake ../ -DCMAKE_TOOLCHAIN_FILE=../cmake/linux-aarch64-gcc940.cmake
make

4.2 Transfer the executable file to the robot's Orin

scp your_app galbot@<Robot IP>:/userdata

5. Run Programs

5.1 C++ Programs

ssh galbot@<Robot IP>
cd /userdata
./your_app

5.2 Python Programs

export PYTHONPATH=/data/galbot/lib:$PYTHONPATH
python your_app.py

Persist Environment Variables

echo 'export PYTHONPATH=/data/galbot/lib:$PYTHONPATH' >> ~/.bashrc
source ~/.bashrc

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Mode 2: PC-Side Deployment

Use Case: Development and debugging, rapid iteration

Features: Convenient development, supports LAN remote control

1. Physical Connection

Connect PC and robot using an Ethernet cable

2. Network Configuration

2.1 Configure PC Network Interface IP

• IP Address: 192.168.1.99 (or other address in the same subnet)
• Subnet Mask: 255.255.255.0

2.1.1 Ubuntu

Settings path: Settings → Network → Wired Settings → IPv4 → Manual

2.1.2 WSL2

When using WSL2, create a .wslconfig file in the current Windows user profile directory and add networkingMode=Mirrored, for example:

Configure the IP address in Windows:

Verify configuration:

ifconfig

Expected Output

Displays inet 192.168.1.99

2.2 Configure PC IP Configuration File

File path: /data/config/embosa_ip_config.json

Configuration example (assuming PC: 192.168.1.99, XCU: 192.168.1.66, Orin: 192.168.1.88):

{
    "embosa_ip": {
        "local_interface": [
            "192.168.1.99"
        ],
        "peer_lists": [
            "192.168.1.66",
            "192.168.1.88"
        ]
    }
}

2.3 Configure Orin IP Configuration File

Prerequisites

You must first connect to Orin via WiFi, refer to Mode 1 Step 1

2.3.1 Login to Orin

ssh galbot@<Orin Wireless IP>
# Password: gb@2023

2.3.2 Edit configuration file

vi /data/config/embosa_ip_config.json

2.3.3 Configuration content

Important

192.168.100.88 and 192.168.100.66 are internal direct connection IPs between Orin and XCU, must be retained

{
    "embosa_ip": {
        "local_interface": [
            "192.168.100.88",
            "192.168.1.88"
        ],
        "peer_lists": [
            "192.168.100.66",
            "192.168.1.99"
        ]
    }
}

2.4 Configure XCU IP Configuration File

2.4.1 Login to XCU

ssh root@<XCU Wireless IP>
# Password: 12345678

2.4.2 Edit configuration file

vi /data/config/embosa_ip_config.json

2.4.3 Configuration content

{
    "embosa_ip": {
        "local_interface": [
            "192.168.100.66",
            "192.168.1.66"
        ],
        "peer_lists": [
            "192.168.100.88",
            "192.168.1.99"
        ]
    }
}

2.5 Verify Network Connection

Required Action

You must restart the robot after modifying the configuration

Test connection after restart:

ping 192.168.1.66  # Test XCU
ping 192.168.1.88  # Test Orin

Expected Result

Normal ping response returned

3. Install SDK on PC

Navigate to the SDK directory and execute the installation script

cd GalbotSDK
sudo ./install.sh

4. Compile Programs

Compile on PC (x86_64)

cd examples/cpp/
mkdir -p build
cd build
cmake ../ -DCMAKE_TOOLCHAIN_FILE=../cmake/linux-x86_64-gcc940.cmake
make

5. Run Programs

5.1 Configure environment variables

Path Description

/opt/galbot/ is the default installation path, can be modified according to your installation path

source /opt/galbot/galbot_sdk/linux-x86_64-gcc940/setup.sh

Persist Environment Variables

echo 'source /opt/galbot/galbot_sdk/linux-x86_64-gcc940/setup.sh' >> ~/.bashrc
source ~/.bashrc

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5.2 Run C++ Programs

cd /userdata  # or the directory where your program is located
./your_app

5.3 Run Python Programs

python your_app.py

Python Dependency Installation

Some Python examples depend on additional libraries. Before running the Python examples, please execute the following script to ensure all required dependencies are installed:

cd GalbotSDK
./install_python_deps.sh

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Terminology

After completing the configuration, you can start exploring the robot's examples and APIs. Before using the SDK, if you are not familiar with robotics terminology, refer to the following sections.

1. Robot Hardware

Physical components and hardware concepts of the robot.

Term	Description
XCU	X Computing Unit. The base computing unit of the robot ("cerebellum"), responsible for low-level motor control, motion control, and other real-time tasks
HPU / Orin	High-Performance Unit / NVIDIA Jetson Orin. The high-performance computing unit ("brain"), responsible for image processing, AI inference, motion planning, and other compute-intensive tasks
Base	The robot's chassis, containing mobile wheels and power system
Torso	The main body of the robot, connecting the head, arms, and base
Head	The robot's head
Arm	The robot's arm, composed of multiple links and joints, e.g., left_arm, right_arm
Leg	The robot's leg structure, used for supporting vertical body movement and waist rotation
Joint	The movable part connecting two links, driven by a motor
Link	The rigid component connecting two joints
Joint Group	A collection of related joints, e.g., left_arm contains all joints of the left arm, used for coordinated control
End-Effector	The tool at the end of the robotic arm, such as a Gripper or Suction Cup
DOF	Degrees of Freedom. Describes the number of independently movable directions of a joint. For example, an arm has 7-DOF
TCP	Tool Center Point. The working point of the end-effector tool, such as the center of a gripper, used for precise control of the operating position
Sensor	Devices for perceiving the environment, including cameras, LiDAR, IMU, force sensors, etc.
RGB Camera	Color camera that captures visible light images
Depth Camera	Camera that outputs depth maps (distance per pixel), used for 3D perception
LiDAR	Light Detection and Ranging. Generates point cloud maps of the surrounding environment through laser ranging
IMU	Inertial Measurement Unit. Contains accelerometers and gyroscopes, measuring the robot's acceleration, angular velocity, and orientation
Point Cloud	A collection of numerous points in 3D space, each with (x, y, z) coordinates, generated by LiDAR or depth cameras

2. Robotics Fundamentals

Core theoretical concepts describing robot motion and spatial relationships.

Term	Description
Frame	Reference Frame. A coordinate system used to describe position and orientation. Think of it as a "ruler" fixed at a specific location in space
World Frame	The globally fixed coordinate system, typically based on the map origin or initial position
Base Frame	A coordinate system fixed to the robot's base, moving as the robot moves
End-Effector Frame	A coordinate system fixed to the end of the robotic arm, moving with the arm
Joint Space	The space defined by the angles of each joint. This is the robot's "native" control method
Cartesian Space	The 3D space described using (x, y, z) coordinates. A more intuitive way for humans to understand
Pose	Position + Orientation. A complete description of "where" something is + "which way" it faces
Position	The coordinates (x, y, z) of an object in 3D space, typically in meters (m)
Orientation	The rotational state of an object, describing which direction it faces
Quaternion	Represents rotation using 4 numbers (qx, qy, qz, qw). Avoids gimbal lock issues, suitable for computer processing
Euler Angles	Represents rotation using three angles (roll, pitch, yaw). More intuitive for human understanding
FK	Forward Kinematics. Given joint angles, calculate the end-effector pose ("where is the hand?") — has a unique solution
IK	Inverse Kinematics. Given a target pose, calculate the required joint angles ("how should joints rotate to reach there?") — may have multiple solutions or no solution
Trajectory	The complete motion path of the robot from start to end, including position, velocity, and acceleration at each moment
Waypoint	A key node in a trajectory. The robot passes through these points in sequence, similar to "via points" in navigation
Interpolation	Calculating smooth transitions between waypoints to generate continuous motion trajectories
SLAM	Simultaneous Localization and Mapping. The robot builds a map while moving and simultaneously determines its position within the map
Self-Collision	Collision between different parts of the robot, e.g., the left hand hitting the right hand
Environment Collision	Collision between the robot and surrounding obstacles

3. Control and Interface

Common parameters and concepts used in the SDK.

Term	Description
SDK	Software Development Kit. A software development toolkit containing libraries, tools, and documentation
API	Application Programming Interface. Defines the rules for interaction between programs
SSH	Secure Shell. A remote login protocol for connecting from a PC to the robot
Cross Compilation	Compiling programs on a PC (x86) that can run on the robot (ARM)
Singleton	A design pattern ensuring only one robot instance exists globally, obtained via get_instance()
Blocking	is_blocking=True. The function call waits for the operation to complete before returning. For example: navigate_to_goal(..., is_blocking=True) waits for navigation to finish, during which no other operations can be performed
Non-blocking	is_blocking=False. The function call returns immediately without waiting. For example: navigate_to_goal(..., is_blocking=False) returns immediately, and you can query status via functions like is_localized()
base_pose	base_pose: [x, y, yaw]. The robot base pose, containing (x, y) position (meters) and yaw yaw angle (radians)
frame_id	Target coordinate frame ID. Possible values: "base_link" (robot base), "odom" (odometry), "map" (map)
reference_frame_id	Reference coordinate frame ID, specifying which coordinate system a pose belongs to
goal_pose	goal_pose: [x, y, z, qx, qy, qz, qw]. Target pose, containing position (x, y, z) (meters) and quaternion (qx, qy, qz, qw) for orientation
start_pose	Starting pose, same format as goal_pose
init_pose	Initial pose estimate, used for relocalization
reference_frame	Relative coordinate frame name, e.g., "base_link", "world", or a kinematic chain name
target_frame	Target coordinate frame, used for coordinate transformations
base_link	The robot base coordinate frame. All arms, head, and other components reference this frame
odom	Odometry coordinate frame. Relative pose estimate based on wheel encoders
map	Map coordinate frame. The globally consistent coordinate frame established by SLAM
joint_groups	A list of joint group names, e.g., ["left_arm", "right_arm", "chassis"]
joint_names	A list of specific joint names. Takes priority over joint_groups, e.g., ["left_arm_j1", "left_arm_j2"]
joint_positions	An array of joint positions (radians), in the same order as returned by get_joint_names()
waypoints	A list of trajectory waypoints, each containing a target position and arrival time
time_from_start_s	Time from the trajectory start to this waypoint (seconds), used to control motion pacing
timeout_s	Timeout duration (seconds). The maximum time to wait for an operation to complete in blocking mode
timestamp_ns	Nanosecond-level timestamp, used for data synchronization
safe_margin	Collision detection safety distance (meters). For example, 0.1 means maintaining 10cm from obstacles
enable_collision_check	Whether to enable collision detection. True means enabled
obstacle_id	Unique identifier for an obstacle, used when adding/removing obstacles
ignore_collision_link_names	A list of link names to ignore during collision detection
pose	Pose data, an array of length 7: [x, y, z, qx, qy, qz, qw]
reference_base_pose	The robot base pose in the map coordinate frame
linear_velocity	linear_velocity: [vx, vy, vz]. Linear velocity array (m/s). vx is forward velocity, vy is lateral velocity, vz is vertical velocity
angular_velocity	angular_velocity: [wx, wy, wz]. Angular velocity array (rad/s). wz is yaw angular velocity
status_string	Status description string, e.g., "SUCCESS", "FAIL", "TIMEOUT", "MOVING"
is_localized	is_localized(). A navigation status check function. Returns True if the robot is localized in the map
get_frame_names()	get_frame_names(). Returns a list of all available coordinate frame names
quaternion	[qx, qy, qz, qw]. Represents rotation as a quaternion. A unit quaternion satisfies sqrt(qx²+qy²+qz²+qw²) = 1
euler	[roll, pitch, yaw]. Represents rotation as Euler angles, in radians, in roll-pitch-yaw order