Environment Requirements and Build

1. Development Overview

The DR02 Pro SDK (dr02_pro) is a ROS 2 package that provides comprehensive functional modules including state machine, low-level joint control, high-level motion control, and peripheral monitoring:

Module	Responsibility	Entry Point
state_machine/	Humanoid robot RL state machine, full-body joint control	main.cpp
low_level/	Low-level joint state reading, joint commands, upper-limb control examples	Individual entries
high_level/	High-level motion state, gait, and velocity control examples	Individual entries
monitoring/	Battery status, fault snapshot monitoring examples	Individual entries
peripherals/	IMU, gamepad button peripheral examples	Individual entries
audio/	WAV playback, volume control, recording examples	Individual entries

2. Environment Requirements

2.1 System Requirements

• ROS 2 environment (Humble / Foxy, etc.)
• deep-robotics-msg message interface library (package name drdds)
• Simulation requires deep-robotics-simulation repository
• CMake 3.16+
• GCC 9+ / Clang 10+

2.2 Build Options

Option	Default	Description
BUILD_DR02_PRO_STATE_MACHINE	ON	Build state machine
BUILD_DR02_PRO_LOW_LEVEL	ON	Build low-level joint and upper-limb control examples
BUILD_DR02_PRO_HIGH_LEVEL	ON	Build high-level motion, gait, and velocity examples
BUILD_DR02_PRO_MONITORING	ON	Build status monitoring examples
BUILD_DR02_PRO_PERIPHERALS	ON	Build peripheral examples
BUILD_DR02_PRO_AUDIO	ON	Build audio examples
BUILD_SIM	OFF	Enable simulation support

3. Build Steps

3.1 Build for Real Robot (x86 Development Host)

source /opt/ros/<ros-distro>/setup.bash
colcon build --packages-up-to dr02_pro --cmake-args -DBUILD_PLATFORM=x86

3.2 Build for Real Robot (ARM On-Board Device)

source /opt/ros/<ros-distro>/setup.bash
colcon build --packages-up-to dr02_pro --cmake-args -DBUILD_PLATFORM=arm

3.3 Build for Simulation

colcon build --packages-up-to dr02_pro --cmake-args -DBUILD_PLATFORM=x86 -DBUILD_SIM=ON

[!WARNING] BUILD_SIM=ON is for simulation only and must not be used for real robot control.

4. Running the Program

4.1 Run the State Machine

source install/setup.bash
ros2 run dr02_pro state_machine

4.2 Run Examples

source install/setup.bash
ros2 run dr02_pro <example_name> [args]