RBQ SDK (C++)

The RBQ SDK is a C++ library for building applications that communicate with the RBQ software stack over Eclipse Cyclone DDS. It wraps DDS participants, topics, and generated message types, and provides helpers for low-level control (joint references, learned policies, timing, filters, etc.).

SDK layout

Area	Role
DDS I/O	Publisher / Subscriber templates (rbq_sdk/dds/) — CycloneDDS-CXX readers/writers on named topics.
Messages	IDL under rbq_sdk/idl/ → C++ types (rbq_msgs, sensor_msgs, …). Includes RBQ-specific types, some ROS 2–compatible types, and Go2-compatible types included in the build.
Control helpers	e.g. JointControl, Policy / PolicyParams (ONNX + info.json), Filter, Timer, Thread (optional RT thread).

Requirements

• On the development PC, this repository typically targets Ubuntu 22.04 (x86_64).
• CMake ≥ 3.22, C++17 compiler.
• Cyclone DDS: bundled under rbq_sdk/3rdparty/; first-time builds need the DDS bootstrap script (below).

Build and install (rbq_sdk/)

From the rbq_sdk directory in the RBQ repository:

1. First time only — build bundled CycloneDDS:

   sudo bash scripts/build_dds.bash

2. Configure, build, install:

   sudo bash scripts/build.bash

The install layout includes include/rbq_sdk/ and generated IDL headers. If CMake cannot find the package, add your install prefix to CMAKE_PREFIX_PATH.

Headers and namespaces

• Entry point: rbq_sdk/rbq_sdk.hpp when provided.
• DDS: rbq_sdk/dds/Publisher.hpp, Subscriber.hpp
• Generated IDL: #include <rbq_sdk/idl/rbq/...>

Topic names in apps are strings (e.g. rt/rbq/...); see examples or driver docs for the exact list.

Related documentation

• Low-level flow: Level 0 Developer Guide
• Sample application: rbq_example_level_0
• ROS 2 integration: ROS2