Network Configuration and Build

Network Configuration

Communication Architecture

The Motion SDK uses UDP for bidirectional communication with the robot firmware:

graph LR
    A["SDK (Development Host)"] -->|"UDP: 192.168.x.x:43893"| B["Robot Firmware (Motion Host)"]
    B -->|"UDP Broadcast: port 43897"| A

Direction	Port	Description
Robot → SDK	43897 (local listen)	Robot firmware broadcasts status data to this port
SDK → Robot	43893 (target port)	Sent to 192.168.x.x:43893

Motion Host Address

• When connected via WiFi:
  • Subnet 1 → Motion host IP: 192.168.1.120
  • Subnet 2 → Motion host IP: 192.168.2.1
• When connected via rear Ethernet port: Motion host IP: 192.168.1.120

Username and Password

Username	Password	Description
ysc	' (English single quote)	Default configuration
user	123456	Alternative
firefly	firefly	Alternative

Configure Motion Host Data Reporting Address

After SSH login to the motion host, edit the network configuration file:

cd ~/jy_exe/conf
vim network.toml

Configuration file content:

ip = '192.168.1.102'        # Motion host sends data to this IP
target_port = 43897
local_port = 43893

Modify ip to the IP address of the host running the SDK:

• SDK runs inside the motion host → Set to 192.168.1.120 or 192.168.2.1
• SDK runs on the development host → Set to the development host’s static IP (e.g., 192.168.1.xxx)

Configure Model Parameters

Check the motion program version:

cd ~/jy_exe/scripts
./stop.sh
./run.sh

If the username is user and Deeprcs Version is earlier than 1.4.24(97), or the username is firefly and the version is earlier than 1.4.21(94), the model configuration needs to be modified:

cd ~/jy_exe/conf
vim name.toml

Change the name value to standard_2.

If the terminal shows the new version interface as below, no modification is needed:

Restart the motion program after configuration:

cd ~/jy_exe/scripts
sudo ./stop.sh
sudo ./restart.sh

Configure SDK Data Sending Address

When creating a Sender in main.cpp, specify the motion host IP:

Sender* send_cmd = new Sender("192.168.1.120", 43893);  ///< Modify according to actual host address

Build Steps

Requirements

Item	Requirement
OS	Linux (Ubuntu recommended)
CMake	≥ 2.8.3
Compiler	C++11 compiler
Pre-compiled libraries	Already included in the lib/ directory

Enter the project directory, create the build folder, and compile:

cd Lite3_MotionSDK
mkdir build && cd build

x86 platform build:

cmake .. -DBUILD_PLATFORM=x86
make -j

ARM platform build (for running on the motion host):

cmake .. -DBUILD_PLATFORM=arm
make -j

After compilation, the executable Lite_motion is generated in the build directory.

CMake Configuration

CMakeLists.txt selects the corresponding pre-compiled library for the target platform via the BUILD_PLATFORM parameter:

if (BUILD_PLATFORM STREQUAL arm)
    target_link_libraries(${PROJECT_NAME} libdeeprobotics_legged_sdk_aarch64.so)
else()
    target_link_libraries(${PROJECT_NAME} libdeeprobotics_legged_sdk_x86_64.so)
endif()

Pre-compiled library list:

File	Architecture	Purpose
libdeeprobotics_legged_sdk_x86_64.so	x86_64	Development host
libdeeprobotics_legged_sdk_aarch64.so	ARM64	Lite3 onboard host

Running the Example

Ensure the development host is connected to the robot network, then execute:

./Lite_motion

To ensure the robot returns to zero position smoothly, please adjust the robot to the ready posture before running the program.