Skip to main content
Version: V2.0.5.1

1. Version Confirmation and Download（Beta）

danger

This is a beta version for internal use only. Regular users should not operate it to avoid damaging the robot.

Tienkung Walker Software Version Confirmation​

Before performing the entire operation, you need to ensure that the overall Tienkung software version is V2.0.5.2 or above.

That is, ssh to the x86 board and check the version number field in version_info.json:

cat /home/ubuntu/ros2ws/version_info.json

Check the first few lines of the output and find the following section:

  "product": "TG2.0-Pro",
  "version": "v2.0.5.2",
  "commit": "bu/integration/tiangong2.0/pro,05a3f0fcc59c9f600fdfd2a40a44598d36dbaf98",
  "release_time": "2025-11-28",

The version field is the version number. If the version is V2.0.5.2 or above, you can continue the operation. If not, you need to upgrade to V2.0.5.2 or above first.

Download​

【Download Page Link】

Download the following files:

  1. Installation package, Tien_install.tar.gz. This is the complete installation package. Theoretically, having this one should be sufficient to complete the installation, but currently the Tien_install/pkgs/manipulation_framework-0.1.0-py3-none-any.whl file inside it is expired, therefore, a separate file for the new version was provided, which is the fourth file below.

  2. Executable package, tien_project.zip. This mainly contains executable programs and scripts.

  3. Depth camera compressed topic support program, libcompressed_depth_image_transport.so and rvl_codec.hpp.

  4. Temporary patch package, dist.zip, which contains only one file: manipulation_framework-0.1.0-py3-none-any.whl. This is the file mentioned in step 1.