rbq-sdk-py 1.0.1

RBQ robot SDK for Python (CycloneDDS-based pub/sub & RPC client for Rainbow Robotics quadruped)

rbq_sdk_python

Standalone Python interface for rbq_sdk

Installation

Dependencies

• Python >= 3.10 (cyclonedds 0.10.2 ships wheels only through CPython 3.10)
• cyclonedds == 0.10.2
• numpy
• opencv-python

Installing from PyPI

pip install rbq_sdk_py

Installing from source

Enter the rbq_sdk directory, and then install cyclonedds and rbq_sdk:

sudo bash scripts/build_dds.bash
sudo bash scripts/build.bash

Enter the rbq_sdk_python directory, and then install rbq_sdk_python.

sudo apt install python3-pip
pip3 install -e .

Usage

The Python interface maintains consistency with the rbq_sdk interface, achieving robot status acquisition and control through request-response or topic subscription/publishing. Example programs are located in the /example directory.

DDS Communication

In the terminal, execute:

python3 ./example/helloworld/publisher.py

Open a new terminal and execute:

python3 ./example/helloworld/subscriber.py

You will see the data output in the terminal. The data structure transmitted between publisher.py and subscriber.py is defined in user_data.py, and users can define the required data structure as needed.

High-Level Status and Control

The high-level interface maintains consistency with rbq_sdk in terms of data structure and control methods.

High-Level Status

Execute the following command in the terminal:

python3 ./example/high_level/read_highstate.py lo

Replace lo with the name of the network interface to which the robot is connected,.

High-Level Control

Execute the following command in the terminal:

python3 ./example/high_level/sportmode_test.py lo

Replace lo with the name of the network interface to which the robot is connected. This example program provides several test methods, and you can choose the required tests as follows:

test.StandUpDown() # Stand up and lie down

Front Camera

Use OpenCV to obtain the front camera (ensure to run on a system with a graphical interface, and press ESC to exit the program):

python3 ./example/front_camera/camera_opencv.py lo

Replace lo with the name of the network interface to which the robot is connected.