Introduction

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 appropriate version tags of this repository.

Features

Supported Platforms

Ubuntu 20.04 LTS (Focal Fossa): x86_64, arm64
Ubuntu 22.04 LTS (Jammy Jellyfish): x86_64, arm64

Supported robot platforms

Hardware support here means that the robot's hardware is still being supported by Weston Robot.

Agilex Communication protocol v1.0

v1.0 protocol is deprecated, if you are using and older hardware with protocol v1.0, please contact Technical Support.

Supported Robot Bases

AgileX Robot Bases using AgileX Robotics' V2 Protocol
Mobile Bases using Weston Robot's zbus Protocol

Supported Peripherals

Serial GPS Receivers using NMEA Protocol
Hipnuc IMU Sensors
Dyp Ultrasonic Sensors
Weston Robot's Power Regulator V2

Installation

Install Dependencies
- LelyCAN.
  - Required by the peripheral drivers
Add Weston Robot's APT repository to your system.
- Please find the latest installation instructions from this page.
Install wrp-sdk
$ sudo apt update

$ sudo apt install wrp-sdk

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

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

Please contact us if you're not sure which version of the SDK you should use.

Contact

Please contact us through our support form.
Documentation of the various robots are available at docs.westonrobot.com.
Sample/Reference code can be found on github.