Spot C++ SDK and ROS API

This repository hosts a C++ version of the Boston Dynamics Spot SDK, as well as the software interface that allows ROS integration with Spot via gRPC calls using the C++ SDK.

Dependencies

gRPC C++

Installation

1. Clone this repo
2. Install gRPC

Building the Library

1. Run ./generate_protos to generate source code for the .proto files provided from Boston Dynamics.

$./generate_protos

2. Create build folder and compile using CMake. Starting from parent directory:

mkdir -p cmake/build && cd cmake/build

cmake ../..

make

[sudo] make install

Building Examples

1. CD into a certain example in the examples directory, as an example 'teleop.'

cd examples/teleop

2. Create build folder and compile using CMAKE.

mkdir -p cmake/build && cmake/build

make

SDK Architecture

The SDK is organized based on this, where layers are namespaces and clients and their containers are objects.