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Software and Firmware Update

Before updating​

  1. Record the robot controller / MarvinSDK, Teleop service, Apex frontend, and headset client versions.
  2. Back up network, robot, camera, and end-effector configuration.
  3. Stop Robot, Teleop, Camera, and Tool and leave the robot safe.
  4. Use matching packages from one delivery release.

Controller​

Copy the controller package to Tianzhun and run:

sudo apt install ./<controller-package>.deb

Host PC​

Install the Teleop service and Apex frontend from the same delivery release. The current documentation baseline is Teleop service 1.0.18 and Marvin Pro frontend 1.0.7.6o:

sudo apt install ./<apex-teleop-package>.deb

For split-package releases 1.0.7.6 and later, install the matching kernelmind-apex-tool package when the delivery includes a gripper or another end effector. Installing only the controller package may leave Robot, Camera, and Teleop available while the Tool module and its gripper components are absent.

For headset installation and developer mode, see Apex XR Headset Client.

Validation​

Restart the controller and host application, verify network/model/camera/tool configuration, start Robot, and confirm the URDF pose. Then test Impedance Mode, Home, and small motions in a clear workspace. If the robot is in the factory packing pose, first use RQt MoveJ to move all 14 arm joints to zero; never Home directly. Also verify recording, video, and logs.

Do not update the robot controller, servo, or camera firmware across versions without a package and procedure confirmed by technical support.