Weston Robot Platform SDK (wrp_sdk)

wrp_sdk provides C++ interface to mobile robot bases and robot peripherals (IMU, Ultrasonic, GPS, Camera Lift, etc.) from Weston Robot. wrp_sdk is provided as a Debian installation package only and you can install it by following the steps given below. For sample code, please check the "sample-*" branches of this repository.

Supported platforms

• OS: Ubuntu 18.04, Ubuntu 20.04
• Architecture: x86_64, arm64

Install the SDK

Install dependencies

$ sudo apt-get install -y software-properties-common
$ sudo add-apt-repository ppa:lely/ppa && sudo apt-get update
$ sudo apt-get install -y pkg-config liblely-coapp-dev liblely-co-tools

Note: The above dependencies are optional if you're only using the robot bases. Otherwise, you will need to install these packages to get full SDK functionality, such as support to sensors, power regulator etc.

Add apt-get source list

$ echo "deb https://westonrobot.jfrog.io/artifactory/wrtoolbox-release $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/weston-robot.list
$ curl -sSL 'https://westonrobot.jfrog.io/artifactory/api/security/keypair/wr-deb/public' | sudo apt-key add -
$ sudo apt-get update

Install the SDK

$ sudo apt-get install wrp_sdk

Note: "apt-get" will install the latest version of wrp_sdk by default. Weston Robot releases stable versions of the SDK regularly. In case your robot firmware is not compatible with the latest SDK, you can install older versions of the SDK manually.

For example, if your robot is only compatible with wrp_sdk up to v0.8.7, you can specify the version you want to install

$ sudo apt-get remove wrp_zbus wrp_sdk
$ sudo apt-get install wrp_zbus=0.6.1
$ sudo apt-get install wrp_sdk=0.8.7

You can also download compatible wrp_sdk and wrp_zbus debian installation packages from Releases. Please contact us if you're not sure which version of the SDK you should use.

Build the sample code

Please refer to the BUILD.md document in each "sample-*" branch for the building instructions.

Q&A

• Q1: What's the difference between ugv_sdk and wrp_sdk?

  A1: ugv_sdk provides a C++ interface to mobile robot bases manufactured by AgileX Robotics. It's a joint effort by Weston Robot and Agilex Robotics development teams. Robots compatible with ugv_sdk talk the AgileX Procotocol (V1 and V2) on the CAN bus. wrp_sdk provides a C++ interface to both robot bases and peripherals supported by Weston Robot. It allows users to use a single unified interface to control all different kinds of mobile robots (e.g. wheeled/tracked/legged robots), including but not limited to the ones from AgileX. It is also the foundation of the various robotics software toolboxes developed by Weston Robot (e.g. the Robot Maintenance Toolbox, the Assisted Driving Toolbox).