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RobotServer SDK

Introduction

RobotServer SDK provides a simple and easy-to-use interface for controlling and monitoring the navigation tasks of robot dogs. The SDK encapsulates the underlying protocol and network communication details, allowing developers to focus on implementing business logic.

WARNING: Please install and use the sdk in your own computer, it is strictly forbidden to install and use the sdk in 106 navagation host or other robot's host.

Features

  • Connect and disconnect communication with the robot dog control system
  • 1002 Get real-time status information of the robot dog
  • 1003 Send navigation task commands
  • 1004 Cancel currently executing navigation tasks
  • 1007 Query the execution status of the current navigation task

System Requirements

  • C++17 or higher
  • CMake 3.10 or higher
  • Boost 1.66 or higher (for network communication)
  • nlohmann/json (for JSON parsing)
  • rapidxml (for XML parsing)

Installation

Install Dependencies

chmod +x scripts/install_dependencies.sh
./scripts/install_dependencies.sh

Build with CMake

git clone https://github.com/DeepRoboticsLab/robotserver_sdk.git
cd robotserver_sdk
mkdir build && cd build
cmake ..
make
sudo make install / sudo make uninstall (optional)
./bin/basic_example 192.168.1.106 30000

Quick Start

Refer to the examples/basic/basic_example.cpp file, which implements a simple example showing how to use the SDK to connect to the robot dog and send navigation tasks.

  1. Refer to the Jueying X30 Pro Application Manual to complete the mapping work
  2. Use the controller to create a new navigation route and synchronize it to the navigation host, rename it to default_navigation_points.json
  3. If the sdk is not compiled, relpace the . /examples/basic/default_navigation_points.json file; if the sdk is compiled, relpace the . /build/bin/default_navigation_points.json file.
  4. Run the sample application
./bin/basic_example 192.168.1.106 30000

Caution: You can refer to the '3.1 Remote Login' section in the 「Jueying X30 Pro Application Manual」 to view the robotserver's log information in the robot_server.XXX.log file (XXX is the date information) in the corresponding date folder under the jy_cog/system/log directory of the navigation host via remote login.

Project Structure

├── CMakeLists.txt                 # Main project build configuration file
├── README.md                      # Multi-language documentation entry point
├── README.en.md                   # English documentation
├── README.zh-CN.md                # Simplified Chinese documentation
├── README.zh-TW.md                # Traditional Chinese documentation
├── docs                           # Documentation directory
│   ├── zh-CN                      # Simplified Chinese documentation
│   │   ├── quick_start.zh-CN.md   # Simplified Chinese quick start guide
│   │   ├── architecture.zh-CN.md  # Simplified Chinese architecture overview
│   │   └── api_reference.zh-CN.md # Simplified Chinese API reference
│   ├── zh-TW                      # Traditional Chinese documentation
│   │   ├── quick_start.zh-TW.md   # Traditional Chinese quick start guide
│   │   ├── architecture.zh-TW.md  # Traditional Chinese architecture overview
│   │   └── api_reference.zh-TW.md # Traditional Chinese API reference
│   └── en                         # English documentation
│       ├── quick_start.zh-en.md   # English quick start guide
│       ├── architecture.zh-en.md  # English architecture overview
│       └── api_reference.zh-en.md # English API reference
├── examples                       # Example code directory
│   └── basic                      # Basic example
│       ├── basic_example.cpp      # Basic example code
│       └── default_navigation_points.json # Default navigation point configuration
├── include                        # Public header directory
│   ├── robotserver_sdk.h          # SDK main header file
│   └── types.h                    # Type definition header file
├── scripts                        # Helper script directory
│   └── install_dependencies.sh    # Dependency installation script
└── src                            # Source code directory
    ├── robotserver_sdk.cpp        # SDK main implementation file
    ├── network                    # Network module
    │   ├── asio_network_model.hpp # Boost.Asio network model header file
    │   └── asio_network_model.cpp # Boost.Asio network model implementation
    └── protocol                   # Protocol module
        ├── messages.hpp           # Message definition header file
        ├── messages.cpp           # Message definition implementation
        ├── serializer.hpp         # Serializer header file
        └── serializer.cpp         # Serializer implementation

Documentation

  1. Quick Start Guide - Quickly get started with the basic functions of the SDK
  2. SDK Architecture Overview - Overall architecture and design philosophy of the SDK
  3. API Reference - Detailed API usage instructions and examples

Technical Features

  • Developed based on C++17 standard
  • Uses Boost.Asio for efficient network communication
  • Supports XML format message interaction
  • Provides both synchronous and asynchronous operation modes
  • Thread-safe design, supports multi-threaded environments

Getting Help

If you encounter any problems during use, or have any suggestions and feedback, please contact us through the following ways:

  • Submit a GitHub Issue
  • Contact Technical Support
    • For mainland China users, please contact technical support for help
    • Overseas users can send email to zhangminjie@deeprobotics.cn for help

License

This project is licensed under the MIT License. See the LICENSE file for details.

Acknowledgements

Thank you for using RobotServer SDK!