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Installation

This guide covers the installation of Dobot Quad SDK for both high-level (gRPC) and low-level (DDS) control.

1. Prerequisites

  • OS: Ubuntu 22.04
  • Python: 3.10+
  • CMake: 3.16+
  • Compiler: GCC/G++ 9+
  • OpenCV: 4.5.4 (tested)

Network Connection

Method Robot IP Subnet Notes
Wired (Ethernet) 192.168.5.2 Set your PC to 192.168.5.xxx/24 Required for DDS (low-level)
WiFi (Rover-*, password 12345678) 192.168.1.6 Auto gRPC (high-level) only

2. High-Level Setup (gRPC)

Python

cd high_level/python
pip install .          # or pip install -e . for development

C++

sudo apt-get install -y libgrpc++-dev protobuf-compiler-grpc libprotobuf-dev pkg-config
cd high_level/cpp && mkdir -p build && cd build
cmake .. && make -j

3. Low-Level Setup (DDS)

Wired Connection Required

DDS only works over wired Ethernet (192.168.5.0/24).

Install DDS Middleware

cd dist
sudo dpkg -i dds-middleware-with-thirdparty*.deb
export CYCLONEDDS_HOME="/usr/local/"

Configure DDS Network Interface

Edit cyclonedds.xml (place this file from the project onto the machine using the SDK, and replace <USER_PORT_INTERFACE> with your network interface name such as enp2s0):

<NetworkInterfaces>"<USER_PORT_INTERFACE>"</NetworkInterfaces>

export CYCLONEDDS_URI=file://$(pwd)/cyclonedds.xml
cyclonedds ps   # verify

Python

cd dist && pip install dds_middleware_python-*.whl
pip install cyclonedds opencv-python

C++

sudo apt install -y libboost-dev libopencv-dev libyaml-cpp-dev cmake build-essential
cd low_level/cpp && mkdir -p build && cd build
cmake .. && make -j

4. Docker Setup (Optional)

docker build -t quad_sdk:latest .
docker run -it --network host quad_sdk:latest

Inside the container, configure DDS as above:

cd /root/dobot_quad_sdk
vim cyclonedds.xml
export CYCLONEDDS_URI=file:///root/dobot_quad_sdk/cyclonedds.xml

Next Steps