C++ Example Index

Bundled Examples

C++ examples are located under example/ in the SDK release package:

File	Purpose
high_level/b1_loco_example_client.cpp	Interactive high-level motion client.
high_level/b1_arm_sdk_example.cpp	Upper-body SDK example.
high_level/b1_7dof_arm_sdk_example.cpp	7-DoF arm example.
low_level/low_level_publisher.cpp	Low-level command publisher.
low_level/low_level_subscriber.cpp	Low-level state subscriber.
low_level/b1_low_sdk_example.cpp	Low-level SDK example.
low_level/b1_7dof_arm_low_sdk_example.cpp	Low-level 7-DoF arm example.
low_level/odometer_example.cpp	Odometry example.
low_level/battery_state_subscriber.cpp	Battery-state subscriber.
low_level/low_level_hand_data_subscriber.cpp	Hand-data subscriber.

Build

After installing the SDK as described in Quick Start, build the examples from the release-package root:

cd <sdk_path>
cmake -S . -B build
cmake --build build -j

Generated executables:

build/b1_loco_example_client
build/b1_arm_sdk_example_client
build/b1_7dof_arm_sdk_example_client
build/b1_low_level_publisher
build/b1_low_level_subscriber
build/low_level_hand_data_subscriber
build/b1_low_sdk_example
build/b1_7dof_arm_low_sdk_example
build/odometer_example
build/battery_state_subscriber

Pass the communication IP address to the motion client:

./build/b1_loco_example_client <network_ip>

❗

Warning

b1_low_level_publisher, b1_low_sdk_example, and the arm-control examples send control commands to the robot. Verify the mode, control parameters, and surrounding environment before running them.