Getting Started

To get started with the Reach Robotics SDK, you’ll first need to install the critical components package. This package includes our internal packet descriptions for the C and Python communication protocols. These packages are provided to customers who have purchased a PRO package for any Reach Robotics product. For more information about PRO packages please contact our sales team (sales@reachrobotics.com).

Note

Some parts of this documentation and SDK source code refer to Blueprint Lab (bpl). This is the former trading name of Reach Robotics.

Downloading the SDK

Clone the SDK from the Reach Robotics GitHub into your development workspace,

cd ~/workspace/src
git clone https://github.com/Reach-Robotics/reach_robotics_sdk.git

Note

If you intend to use the ROS or ROS 2 node, ensure the repository is cloned into your ROS workspace src folder.

Installing Critical Components

The SDK critical components can be download from the Reach Robotics Website. Use the password provided to you at the time of your purchase or contact our Sales Team for more information.

Once downloaded,

1. Open the ZIP File,

2. Copy the contents to the reach_robotics_sdk Folder,

3. Merge The folders if prompted.

When completed, the folder structure should look similar to the tree below,

reach_robotics_sdk
└── bplprotocol
    │   └── bplprotocol
    │      └── packetID.py
    └── C
        └── packetID.h

Getting Started With Python

To get started with the Reach Robotics python protocol install the package `bplprotocol` locally,

cd ./bplprotocol
pip3 install .

Note

If the package fails to install it is likely you have not installed the Critical components correctly. If this is the case, the following error will be raised during the installation "ImportError: Please install the Reach Robotics SDK Critical Components.

Examples

Some examples using the bplprotocol can be found under bplprotocol/examples,

• Requesting Joint Positions
• Setting Heartbeats
• Master Arm Passthrough
• Master Arm Information
• Accessing the Force Torque Sensor
• Controlling Joints
• Controlling Joints Simultaneously
• Voltage Threshold Parameters - Auto Stow on Voltage Change

Getting Started With C/C++

To get started with the C/C++ communications protocol, ensure you have the files `bplprotocol.h` and `packetID.h` in your file directory.

Examples

Some examples using the bplprotocol can be found under C/examples,

• Encoding Packets
• Decoding Packets

Compilation and Execution

You can compile and execute examples using the GCC tool chain as shown below.

cd ./C/examples/
gcc decodePacketExample.c -I .. -o decode_example.o

# To run the example
./decode_example.o