RoboMaster Communication Library

A C++ library for communicating with DJI RoboMaster robots over CAN bus. This library was reverse-engineered from DJI RoboMaster S1 CAN communications and the communication protocol implicitly documented in the RoboMaster SDK.

This library was tested on Raspberry Pis with the CAN hat as well as on Nvidia Jetson Orin NX with the AverMedia D131 carrier board.

Building

mkdir build && cd build
cmake ..
make -j$(nproc)

Usage

Basic Robot Control

#include <robomaster/robomaster.hpp>

int main() {
    // Create CAN interface
    auto can = robomaster::can_streambuf("can0", 0x201);
    std::iostream io(&can);
    
    // Initialize chassis controller
    robomaster::command::chassis chassis(io);
    
    // Set work mode and send commands
    chassis.send_workmode(1);
    chassis.send_wheel_speed(100, 0, 0, 0);  // Move forward
    
    return 0;
}

Sensor Data Subscription

#include <robomaster/robomaster.hpp>

void on_imu_data(const robomaster::dds::metadata& meta, 
                 const robomaster::dds::imu& imu_data) {
    std::cout << "IMU: " << imu_data.gyr_x << ", " 
              << imu_data.gyr_y << ", " << imu_data.gyr_z << std::endl;
}

int main() {
    auto can_in = robomaster::can_streambuf("can0", 0x202);
    auto can_out = robomaster::can_streambuf("can0", 0x201);
    std::iostream in(&can_in);
    std::iostream out(&can_out);
    
    robomaster::dds::dds dds_client(in, out);
    
    // Subscribe to IMU data at 50Hz
    dds_client.subscribe(std::function<void(const robomaster::dds::metadata&, 
                                           const robomaster::dds::imu&)>(on_imu_data), 50);
    
    // Keep running
    std::this_thread::sleep_for(std::chrono::seconds(10));
    return 0;
}

Available Sensor Types

• attitude: Roll, pitch, yaw
• wheel_encoders: RPM, encoder values, timers, states
• imu: Accelerometer and gyroscope data
• battery: Voltage, temperature, current, percentage
• velocity: Global and body frame velocities

Examples

See the examples/ directory for complete working examples:

• run_vel.cpp: Basic robot movement
• read_enc.cpp: Multi-sensor data subscription

Using in Your Project

With CMake

find_package(robomaster_comm REQUIRED)
target_link_libraries(your_target robomaster::robomaster_comm)

Manual Linking

g++ -std=c++17 your_code.cpp -lrobomaster_comm -lpthread

Requirements

• C++17 compiler
• Linux with SocketCAN support
• CMake 3.16+
• pthread library

Error Handling

The library uses exceptions for error handling:

• robomaster::can_error: CAN socket operations
• robomaster::protocol_error: Protocol parsing/validation
• Standard exceptions: Invalid arguments, system errors

Thread Safety

The library is not thread-safe and requires mutexes when the same interface is accessed by multiple threads. An example can be found in examples/threading.cpp.