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Software Upgrade

This document describes the software upgrade procedure for RCU firmware versions FW_version < v0.3.0.

adam_u_deploy installation runs on the robot NUC, while the SDK repository set update runs on the user computer.

Environment Preparation

  1. Confirm that Step 3.2: NUC Startup has been completed.

  2. User computer system requirement: Ubuntu 22.04 x86_64

adam_u_deploy Installation

  1. Open a terminal on the user computer and connect to the NUC via SSH:

# Replace XX.XX with the actual IP address, located on the back of the remote control
ssh pnd-humanoid@192.168.XX.XX`
# Initial password: pndxyz
2. Check whether the adam_u_deploy directory exists:

cd ~/Documents/adam_u_deploy`

Dependency

Download the repository and dependencies:

# adam_u_deploy v1.2.1
cd ~/Documents
git clone https://github.com/pndbotics/adam_u_deploy.git

# Cyclone DDS 
cd ~/Documents
git clone https://github.com/eclipse-cyclonedds/cyclonedds.git
cd cyclonedds
git checkout 0.10.2
# Check the tag/branch pointed to by HEAD
git describe --tags # Should output 0.10.2 or information containing 0.10.2
mkdir build && cd build
cmake ..
make -j8
sudo make install

# Cyclone DDS C++
cd ~/Documents
git clone https://github.com/eclipse-cyclonedds/cyclonedds-cxx.git
cd cyclonedds-cxx
git checkout 0.10.2
mkdir build && cd build
cmake ..
make -j8
sudo make install

Update code to the latest

cd ~/Documents/adam_u_deploy
git reset --hard origin/main

🔗 Reference: adam_u_deploy_v1.2.1

SDK Repository Set Update

Open a new terminal on the user computer:

Note

If prompted with “fatal: destination path already exists”, you may manually delete the folder and try again.

# pnd_sdk_python_v1.2.0
cd ~/Documents
git clone https://github.com/pndbotics/pnd_sdk_python.git

# pnd_mujoco_v1.2.0
cd ~/Documents
git clone https://github.com/pndbotics/pnd_mujoco.git

# pnd_ros2_v1.2.0
cd ~/Documents
git clone https://github.com/pndbotics/pnd_ros2.git

🔗 Reference:

pnd_sdk_python_v1.2.0

pnd_mujoco_v1.2.0

pnd_ros2_v1.2.0