title: 2. Frequently Asked Questions hideH1: true
Section titled “title: 2. Frequently Asked Questions hideH1: true”2. Frequently Asked Questions
Section titled “2. Frequently Asked Questions”2.1 What is the onboard software version?
Section titled “2.1 What is the onboard software version?”The A2 robot comes with a series of onboard software, which will be upgraded along with the OTA (Over-The-Air) updates.
Generally, the software version (current application version) is printed when you ssh into the robot, and it can also be viewed through the AimMaster software. The version number is usually in the format of 1.2.x.
2.2 What are P1 and T3?
Section titled “2.2 What are P1 and T3?”P1 and T3 are the hardware models of the A2 robot. The main difference between these hardware models lies in the configuration of the industrial PC, including network card configurations, but the system performance and upper-layer interfaces are generally unified.
After logging into the x86 industrial PC via ssh, you can check the /etc/bsp_version file to confirm the version. If this file exists, it is P1; if it does not exist, it is T3.
2.3 How to handle the over-speed anomaly reported by the arm joint motor?
Section titled “2.3 How to handle the over-speed anomaly reported by the arm joint motor?”
Reason: When calling the arm interface, there is a step change between the input position and the current position, leading to an over-speed condition that triggers current limiting. At this point, the embedded system will disable the joint for protection and report the alarm.
Solution: In most cases, restarting the robot will resolve the issue. To avoid this problem, when calling the arm ROS2 Topic interface, filter and smooth the joint positions before passing them in, ensuring that the input values do not have a large step change compared to the current state.
2.4 Is it possible to develop your own motion control program?
Section titled “2.4 Is it possible to develop your own motion control program?”By default, the low-level control interfaces for the lower limb joint motors are not open, and they can only be controlled through high-level speed commands. If you need to develop your own motion control algorithms to replace the ones provided by Agibot, please contact the sales or project manager to obtain the motion control development and deployment guide.