RPC Business Interfaces
This section groups all C++ business clients that invoke services through RPC. They are organized by business domain. Low-level DDS topics, C++ controller wrappers, and the example index remain in the top-level user guide.
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Note
“Minimum firmware” is the first robot-side firmware version that supports the interface, not the Booster Robotics SDK package version. Read B1LocoClient::GetRobotInfo().version_ to check the installed robot firmware. Interfaces without a separate version record use >= v1.7.1.0.
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Motion-Control Interfaces
- Initialization
- Firmware Compatibility
- Robot Modes
- Movement and Gait
- Head Control
- Arm End Effectors and Grippers
- Actions, Sound, and Special Control
- Lion Dance State Machine
- Status Queries
- Custom Trained Trajectories
- Complete LocoApiId Values
- Additional State and Hardware Enums
- Payload and response field index
- Additional state enums
- Device Information Interfaces
- AI and LUI Interfaces
- Vision Interfaces
- Camera Interfaces
- Lighting Interfaces
- Audio Module