High Level Command — Quick Start

Source: rbq_sdk/cpp/example/src/rbq_high_level.cpp

Publishes HighLevelCommand at 50 Hz. Type gait names in the terminal; control velocity with a joystick.

Build

cd RBQ/rbq_sdk/cpp/example
bash scripts/setup.bash
bash scripts/build.bash

Run

./bin/rbq_high_level <networkInterface> [joystickPath]
./bin/rbq_high_level eth0

A joystick is required. The program auto-detects /dev/input/js* (prefers Logitech/Xbox by name).
Override with an explicit path: ./bin/rbq_high_level eth0 /dev/input/js1

Terminal usage

list              ← print all gaits
standing          ← switch by name
3                 ← switch by ID (trotting)
rl_trot           ← switch to RL trot

All gaits

Name	ID	Notes
sitting	0	Sit down
standing	1	Default at startup
aiming	2	Aiming posture
trotting	3	MPC trot
trot_stairs	4	Stair-climbing trot
waving	5	Wave gait
trot_running	6	High-speed trot
docking	10	Auto-docking sequence
rl_trot	30	RL trot
rl_front_walk	31	RL front walk
rl_left_walk	33	RL left walk
rl_right_walk	34	RL right walk
rl_bound	35	RL bound
rl_pace	36	RL pace
rl_pronk	37	RL pronk
rl_3leg_hr	38	RL 3-leg (hind right)
rl_3leg_hl	39	RL 3-leg (hind left)
rl_3leg_fl	41	RL 3-leg (front left)
rl_trot_vision	42	RL trot with vision
rl_trot_run	45	RL fast run
rl_silent	46	RL silent
rl_stairs	47	RL stair climbing
rl_walk_vision	48	RL walk w/ terrain height feedback (height/pitch adjustable)
rl_walk	49	RL walk (height/pitch adjustable)

Joystick velocity

Axis	Command	Max
L stick forward/back	vel_x	±1.2 m/s
L stick left/right	vel_y	±0.5 m/s
R stick left/right	omega_z	±60 deg/s

omega_z is in deg/s — QuadWalk converts to rad/s internally.

Important

The program sends switchControlMode = true at startup.
Without this, the robot ignores HighLevelCommand and stays in joystick mode.

→ Full reference: High Level Command