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

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

Run

./bin/rbq_sport_client_joy [networkInterface] [joystickPath]

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

# Real robot — pass the interface that reaches it
./bin/rbq_sport_client_joy eth0
./bin/rbq_sport_client_joy eth0 /dev/input/js1

Joystick 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
BACK	Stop move

Double-click (within 400 ms)

Button	Action
X × 2	Left-side gait
Y × 2	Right-side gait

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)