Quick Start

Requirements

• Ubuntu 22.04 or Ubuntu 24.04.
• An x86_64 or aarch64 processor.
• The network IP address used to communicate with the robot, such as 127.0.0.1 or 192.168.10.102. <network_ip> refers to this IP address throughout the examples.
• DDS domain ID 0 is used by default. Publishers and subscribers must use the same domain ID when multiple DDS networks are present.

Install the C++ SDK

This guide uses <sdk_path> for the root of the SDK release package. The directory contains install.sh, include/, lib/, and example/. Install the SDK with the provided script:

cd <sdk_path>
sudo ./install.sh

The script installs build-essential and CMake, selects the prebuilt library for the current CPU architecture, and installs the SDK into the system paths:

• Headers are copied to /usr/local/include.
• Libraries are copied to /usr/local/lib.
• ldconfig is run to refresh the linker cache.

After installation, applications can use #include <booster/...> and link the booster_robotics_sdk library by name. No SDK source path or custom installation prefix is required.

Build the Bundled Examples

The release package already contains a prebuilt SDK library. These commands only compile the C++ programs under example/:

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

See C++ API Reference for a complete CMake configuration for your own application.

Minimal C++ Example

#include <cstdint>
#include <iostream>

#include <booster/robot/b1/b1_loco_client.hpp>
#include <booster/robot/channel/channel_factory.hpp>
#include <booster/robot/rpc/error.hpp>

int main() {
    booster::robot::ChannelFactory::Instance()->Init(0, "<network_ip>");

    booster::robot::b1::B1LocoClient client;
    client.Init();

    if (!client.WaitForService(5000)) {
        std::cerr << "loco service is not available\n";
        return 1;
    }

    int32_t ret = client.ChangeMode(booster::robot::RobotMode::kPrepare);
    if (ret != booster::robot::kRpcStatusCodeSuccess) {
        std::cerr << "ChangeMode failed: " << ret << "\n";
        return 1;
    }

    client.GetUp();
    client.ChangeMode(booster::robot::RobotMode::kWalking);
    client.Move(0.2F, 0.0F, 0.0F);
    client.Move(0.0F, 0.0F, 0.0F);
    return 0;
}

Run Bundled Examples

Interactive motion-control client:

./build/b1_loco_example_client <network_ip>

Low-level state subscriber:

./build/b1_low_level_subscriber

See C++ Example Index for low-level command, arm-control, odometry, and other examples.

❗

Warning

Motion, action, and low-level publishing examples affect the physical robot. Verify the robot mode, communication IP, and surrounding environment before running them.