Level 1 Developer Guide
Level 1 lets you control the robot using predefined motion commands and APIs — without dealing with joint-level details. It is the right choice if you are:
- Building an application that sends walk, stance, or navigation commands
- Integrating RBQ into a ROS 2 system
- Developing a script or app that uses the C++ or Python API
- Doing rapid prototyping with high-level behaviors
For direct joint and torque control, see the Level 0 Developer Guide instead.
Prerequisites
| Item | Details |
|---|---|
| Safety & operation | Complete the Common Guide first |
| Dev environment | Set up with the Developer Setup Guide |
| Concepts | Read Concept — focus on High Level / LV1 |
| Network | Connect your PC to the robot Wi-Fi — same steps as Controller & Wi-Fi |
Getting Started (Suggested Order)
- Developer Setup Guide — Build the stack and run in simulation.
- API Overview — Study the C++ API calls you will need (motion commands, IMU, gamepad).
- ROS 2 Quick Start — Subscribe to topics, publish commands; test with the quick start examples first.
- RBQ SDK + rbq_low_level — For C++ DDS-based integration (LV0 style); use the API and ROS 2 for LV1 motion flows.
- Once verified in simulation, test on the real robot.
What You Can Do at Level 1
| Capability | Details |
|---|---|
| Gait control | Switch between Sit / Stance / Walk / Stair / RL modes |
| Velocity commands | Send vel_x, vel_y, omega_z via HighLevelCommand |
| ROS 2 integration | Subscribe to 60+ sensor topics; publish motion commands |
| Software updates | GUI software update · Robot software update |
| Support | Error reporting & contact |
Safety Notes
RL-based and custom gaits carry fall and collision risk.
WARNING
Always validate new behaviors in simulation before deploying to the real robot. Keep a safe clearance and ensure RBQGUI is available for emergency intervention at all times. Refer to Emergency Stop Procedures.
Related Documentation
| Topic | Link |
|---|---|
| Architecture & concepts | Concept |
| Full API reference | API Overview |
| Full ROS 2 reference | ROS 2 Quick Start · Full ROS 2 Docs |
| Calibration & tuning | Calibration & Tuning |
| GUI operation | GUI Introduction · Basic Motion Commands |
| Software updates | GUI Update · Robot Update |
| Support | Error Reporting |