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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
  1. 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
  1. 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.