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]

# Simulator / on-robot stack — interface defaults to lo
./bin/rbq_high_level

# Real robot — pass the interface that reaches it
./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 the example's built-in list
standing          ← switch by name
3                 ← switch by ID (trotting)
waving            ← switch to wave gait

Supported gaits

Name	ID	Notes
sitting	0	Sit down
standing	1	Default at startup
trotting	3	MPC trot
trot_stairs	4	Stair-climbing trot
waving	5	Wave gait
docking	10	Auto-docking sequence

The example's built-in list also prints internal gaits that are not supported. Use only the gaits in the table above.

After commanding docking (10), monitor the sequence via the docking_state field of RobotStatus — it reports each stage and, on abort, the failure reason. See the docking-state table.

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