Sport Client (Joystick) — Quick Start
Source: rbq_sdk/cpp/example/src/rbq_sport_client_joy.cpp
Gamepad-driven robot control via SportClient. Analog sticks → velocity, buttons → discrete actions.
Build
bash
cd RBQ/rbq_sdk/cpp/example
bash scripts/setup.bash
bash scripts/build.bashRun
bash
./bin/rbq_sport_client_joy <networkInterface> [joystickPath]
./bin/rbq_sport_client_joy eth0
./bin/rbq_sport_client_joy eth0 /dev/input/js1Joystick is auto-detected from /dev/input/js* (prefers Logitech/Xbox by name).
Override with JOY=/dev/input/js1 ./bin/rbq_sport_client_joy eth0.
Gamepad layout (Logitech F710 / Xbox)
Button chords
| Hold + Press | Action |
|---|---|
| L2 + B | E-stop (Damp) |
| L2 + A × 1 | StandUp (lock joints) |
| L2 + A × 2 | StandDown (prone) |
| START | Default gait |
| L2 + START | Running mode |
| L2 + X | Recovery stand |
| R1 + X | Climb mode |
| L1 + X | not supported on this robot |
| L1 + Y | not supported on this robot |
| BACK | Stop move |
Double-click (within 400 ms)
| Button | Action |
|---|---|
| X × 2 | Left-side gait |
| Y × 2 | Right-side gait |
| R1 × 2 | not supported on this robot |
| R2 × 2 | not supported on this robot |
Analog sticks
| Axis | Maps to | Max |
|---|---|---|
| L stick forward/back | vel_x | ±0.55 m/s |
| L stick left/right | vel_y | ±0.35 m/s |
| R stick left/right | vyaw | ±1.0 rad/s |
Deadzone: 0.12 on all axes.
→ Full reference: Sport Client (Joystick)