Sport Client — Quick Start

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

Interactive terminal CLI that sends any SportClient command to the robot.

Build

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

Run

./bin/rbq_sport_client [networkInterface]

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

# Real robot — pass the interface that reaches it
./bin/rbq_sport_client eth0

Usage

Input "list " to list all test option ...
list              ← print all commands
balance_stand     ← execute by name
1                 ← execute by ID

Commands

ID	Name	What it does
0	damp	High-damping e-stop
1	balance_stand	Balanced standing
2	stop_move	Stop in place
3	stand_down	Go prone
4	recovery_stand	Stand up from fall
5	move	Rotate in place (Move(0, 0, 0.5))
6	switch_gait	Switch to default gait
8	get_state	Print FSM state / speed level / process state
11	stand_up	Lock joints in standing position

The example program's list also prints commands the robot does not implement; those return a "not implemented" error. Only the commands above are supported.

Full list: type list at the prompt. Unknown commands print a guidance message.

Notes

• The client uses SetNoReply(true) — fire-and-forget, no RPC wait.
• Loop runs at 50 Hz; the selected command executes on every tick.

→ Full reference: Sport Client (Software)