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.

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

#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; }

#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; }

• 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

See the examples/ directory for complete working examples:

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

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

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

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

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

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.