High-Level Motion Service Interfaces

Introduction

High-Level Control Interfaces:
You can send motion commands such as velocity control and posture control to the Daystar Robot by invoking ROS2 Topics, ROS2 Services, C++ functions, or Python functions.

Function	C++	ROS	Python	C#
Initialization	✔		✔	✔
Enable/Disable Driver	✔		✔	✔
Set Posture	✔	✔	✔	✔
Control Movement & Velocity	✔	✔	✔	✔
Adjust Standing Height	✔	✔	✔	✔
Set Gait	✔	✔	✔	✔
Demo Mode Control	✔		✔	✔
Adjust Running Speed	✔		✔	✔
Software Emergency Stop	✔		✔	✔
Resume from Emergency Stop	✔		✔	✔
Set Control Mode	✔	✔	✔	✔
Obstacle Avoidance Switch	✔		✔	✔

Initialization

C++ Interface

explicit SDK(const std::string &server_address = "192.168.144.103:50051")

Function Description
Constructor that connects to the robot service at the specified address.

Parameter Description

Parameter Name	Type	Required/Default	Description
server_address	std::string	"192.168.144.103:50051"	Server address in the format "IP:Port".

Return Value

Type	Description
SDK	SDK instance.

Python Interface

RobotClient(host='192.168.144.103', port=50051)

Function Description
Initialize connection to the robot.

Parameter Description

Parameter Name	Type	Required/Default	Description
host	str	'192.168.144.103'	IP address of the robot host.
port	int	50051	Port of the robot host.

Return Value

Type	Description
RobotClient	RobotClient instance.

C# Interface

void InitialRobot(RobotType robotType, IConnectionStateListener connectionStateListener = null, IPerceptionConnectionStateListener perceptionConnectionStateListener = null)

Function Description
Initialize robot connection (no need to set IP and port).

Parameter Description

Parameter Name	Type	Required/Default	Description
robotType	RobotType	Required	Type of robot. RobotType.IS: Hexapod robot, RobotType.MC: Wheeled-legged robot.
connectionStateListener	IConnectionStateListener	null	Callback for motion connection state.
perceptionConnectionStateListener	IPerceptionConnectionStateListener	null	Callback for perception connection state.

Return Value

Type	Description
void	No return value.

void InitialRobot(RobotType robotType, string motionHostIP, string motionHostPort, string perceptionHostIP = null, string perceptionHostPort = null, IConnectionStateListener connectionStateListener = null, IPerceptionConnectionStateListener perceptionConnectionStateListener = null)

Function Description
Initialize robot connection (custom IP and port).

Parameter Description

Parameter Name	Type	Required/Default	Description
robotType	RobotType	Required	Type of robot.
motionHostIP	string	Required	IP address of SYSA (motion module).
motionHostPort	string	Required	Port of SYSA (motion module).
perceptionHostIP	string	null	IP address of SYSB (perception module).
perceptionHostPort	string	null	Port of SYSB (perception module).
connectionStateListener	IConnectionStateListener	null	Callback for motion connection state.
perceptionConnectionStateListener	IPerceptionConnectionStateListener	null	Callback for perception connection state.

Return Value

Type	Description
void	No return value.

Example

// Create SDK Manager
_robotSDKManager = RobotSDKManager.Instance;
// Use default address
_robotSDKManager?.InitialRobot(RobotType.IS, this, this);

// Set address manually
_robotSDKManager?.InitialRobot(RobotType.IS, "192.168.144.103", null, "192.168.144.105", null, this, this);

Enable/Disable Drive

C++ Interface

bool enableDriver(bool enable)

Function Description
Enable or disable the driver.

Parameter Description

Parameter Name	Type	Required/Default	Description
enable	bool	Required	Whether to enable the driver.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
bool enable = true;
bool success = sport.enableDriver(enable);
if (success) {
    std::cout << "Driver Enable Command Successful." << std::endl;
} else {
    std::cout << "Failed to Enable Driver." << std::endl;
}

Python Interface

driver_enable(enable=True, source=2)

Function Description
Enable/Disable the driver.

Parameter Description

Parameter Name	Type	Required/Default	Description
enable	bool	True	Enable/disable the driver.
source	int	2	Control mode (1: Navigation Mode, 2: Joystick Mode).

Return Value

Type	Description
bool	Whether the operation was successful.

Example

from daystar_sdk.client import RobotClient

# Initialize the client
with RobotClient(host='192.168.144.105', port=50051) as client:
    # Enable the robot driver
    success = client.driver_enable(True)

C# Interface

void EnableRobot()

Function Description
Enable the robot driver.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
void	No return value.

void DisableRobot()

Function Description
Disable the robot driver.

Parameter Description

Parameter Name	Type	Required/Default	Description
-	-	-	No parameters.

Return Value

Type	Description
void	No return value.

Notes

• The robot driver must be enabled before controlling robot movement or executing any other actions.
• The driver status can be monitored via the MotionState listener. For detailed usage, refer to the Motion Status Service Interface section.

Set Robot Posture

C++ Interface

bool lieDownOrStandUp(bool lieDown)

Function Description
Control the robot to lie down or stand up.

Parameter Description

Parameter Name	Type	Required/Default	Description
lieDown	bool	Required	true to stand up, false to lie down.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
bool enable = true;
bool success = sport.lieDownOrStandUp(enable);
if (success) {
    std::cout << "Lie Down Or Stand Up Command Successful." << std::endl;
} else {
    std::cout << "Failed to Lie Down Or Stand Up." << std::endl;
}

ROS2 Interface

This interface is used to subscribe to the ROS2 /cmd_vel topic to receive robot motion velocity commands.

Service Name	Service Type	Role
/nav/robot_command	ysc_robot_msgs/srv/RobotCommand	Client

Message Structure

ysc_robot_msgs/srv/RobotCommand contains the following field:

Field Name	Type	Description
RobotCommand	string	A string indicating the specific command.

Test Method

Call this interface once to toggle between standing up and lying down states.

ros2 service call /nav/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StandUpDown'"

Python Interface

lie_down_or_stand_up(state, source=2)

Function Description
Controls whether the robot lies down or stands up.

Parameter Description

Parameter Name	Type	Required/Default	Description
state	bool	Required	True for standing up, False for lying down.
source	int	2	Control mode (1: Navigation Mode, 2: Joystick Mode).

Return Value

Type	Description
bool	Whether the operation was successful.

Note

You must call driver_enable(True) to enable the driver before making the robot stand up.

Example

from daystar_sdk.client import RobotClient
# Initialize the client
with RobotClient(host='192.168.144.105', port=50051) as client:
    success = client.driver_enable(True)         # Enable the driver
    success = client.lie_down_or_stand_up(True)  # Stand up

C# Interface

void SetPostureType(RobotPostureType type)

Function Description
Set the robot's posture.

Parameter Description

Parameter Name	Type	Required/Default	Description
type	RobotPostureType	Required	Posture type. RobotPostureType.Lie_Down: Lie down, RobotPostureType.Stand_Up: Stand up.

Return Value

Type	Description
void	No return value.

Notes

• The posture switching status and current posture can be obtained by monitoring MotionState.
• For detailed usage, please refer to the "Motion Status Service Interface" section.

Control Movement Direction and Speed

C++ Interface

bool move(float x, float y, float yaw)

Function Description
Directional Movement Control. Controls the robot's motion in three degrees of freedom: forward/backward, left/right, and rotation.

Parameter Description

Parameter Name	Type	Required/Default	Description
x	float	Required	Speed in forward/backward direction. Range depends on gait and terrain (see below). Positive = forward, negative = backward.
y	float	Required	Speed in left/right direction. Range depends on gait and terrain (see below). Positive = left, negative = right.
yaw	float	Required	Rotational speed. Range depends on gait and terrain (see below). Positive = counterclockwise, negative = clockwise.

Return Value

Type	Description
bool	Whether the operation was successful.

WARNING

Parameter Range and Direction Explanation:

• Normal Gait:

  • Flat Terrain: x: [-1.0, 2.0], y: [-0.4, 0.4], yaw: [-0.8, 0.8]
  • Slope: x: [-0.8, 0.8], y: [-0.4, 0.4], yaw: [-0.6, 0.6]

• RL Gait (All terrains including flat/slope):

  • x: [-2.0, 2.0], y: [-0.4, 0.4], yaw: [-0.8, 0.8]

• Units: x, y in m/s; yaw in rad/s (approximate)

• Parameter signs indicate movement directions:

  • x > 0: move forward, x < 0: move backward
  • y > 0: move left, y < 0: move right
  • yaw > 0: rotate counterclockwise, yaw < 0: rotate clockwise

• The absolute value of the parameter indicates speed magnitude: |x|, |y|, |yaw| → higher = faster

Actual Speed Calculation Formula:
The final movement speed is determined by three factors:

1. maxSpeed: Maximum hardware speed (m/s), obtainable via setStatusCallback
2. percent: Speed coefficient set via adjustSpeed function (0–100)
3. Input values: x, y, yaw parameters provided in this function

Speed calculations:

• Actual speed in X = x × maxSpeed × percent / 100 (m/s)
• Actual speed in Y = y × maxSpeed × percent / 100 (m/s)
• Actual rotation speed = yaw × maxSpeed × percent / 100 (rad/s)

⚠️ Critical Safety Mechanism: Continuous Invocation Required

• Must be called continuously: Movement will only persist if move() is called repeatedly — a built-in safety mechanism
• Auto-stop on timeout: If the backend does not receive a new move() command within 200ms, all speed components will be set to zero
• Real-time control: To maintain motion, this function should be called at >5Hz (recommend 10–20Hz)
• Failsafe design: This mechanism ensures the robot stops if communication is lost or the program crashes

Example

#include <iostream>
#include <thread>
#include <chrono>
#include "Lenovo/Daystar/SDK.h"

Lenovo::Daystar::SDK sdk;

// Attempt to connect to the SDK server with default settings
if (!sdk.isConnected()) {
    std::cerr << "Cannot connect to SDK server with default settings" << std::endl;
    return 1;
} else {
    std::cout << "Successfully connected with default settings" << std::endl;
}

// Retrieve the sport (motion control) interface
auto &sport = sdk.getSport();

// Flag to control movement loop
bool need_to_move = true;

// Continuously send motion commands to keep the robot moving forward
while (need_to_move) {
    sport.move(0.5f, 0.0f, 0.0f);  // Move forward at 50% speed
    std::this_thread::sleep_for(std::chrono::milliseconds(50));  // 20Hz frequency
}

Note

For a complete example, please refer to the "Creating an Application" section in the Application Development module.

Python Interface

direction_movement(linear_x=0.0, linear_y=0.0, angular_z=0.0, source=2)

Function Description
Control robot movement.

Parameter Description

Parameter Name	Type	Required/Default	Description
linear_x	float	0.0	Forward/backward speed. Range depends on gait and terrain (see below).
linear_y	float	0.0	Left/right movement speed. Range depends on gait and terrain (see below).
angular_z	float	0.0	Rotational speed. Range depends on gait and terrain (see below).
source	int	2	Control mode (1: Navigation Mode, 2: Joystick Mode).

Return Value

Type	Description
bool	Whether the operation was successful.

Parameter Range Explanation:

• Normal Gait:
  • Flat Terrain: linear_x: [-1.0, 2.0] m/s, linear_y: [-0.4, 0.4] m/s, angular_z: [-0.8, 0.8] rad/s
  • Slope: linear_x: [-0.8, 0.8] m/s, linear_y: [-0.4, 0.4] m/s, angular_z: [-0.6, 0.6] rad/s
• RL Gait (All terrains including flat/slope):
  • linear_x: [-2.0, 2.0] m/s, linear_y: [-0.4, 0.4] m/s, angular_z: [-0.8, 0.8] rad/s

Example

from daystar_sdk.client import RobotClient

# Initialize client
with RobotClient(host='localhost', port=50051) as client:
    # Robot movement
    success = client.direction_movement(linear_x=0.5)

ROS2 Interface

This interface is used to subscribe to the ROS2 /cmd_vel topic to receive velocity commands for robot movement.

Topic Name	Topic Type	Role
/cmd_vel	geometry_msgs::msg::Twist	Subscriber

Message Structure

The geometry_msgs::msg::Twist message includes the following fields:

Field Name	Type	Description
linear	Vector3	Contains x, y, z representing linear velocities.
angular	Vector3	Contains x, y, z representing angular velocities.

Parameter Range Explanation:

• Normal Gait:
  • Flat Terrain: linear.x: [-1.0, 2.0] m/s, linear.y: [-0.4, 0.4] m/s, angular.z: [-0.8, 0.8] rad/s
  • Slope: linear.x: [-0.8, 0.8] m/s, linear.y: [-0.4, 0.4] m/s, angular.z: [-0.6, 0.6] rad/s
• RL Gait (All terrains including flat/slope):
  • linear.x: [-2.0, 2.0] m/s, linear.y: [-0.4, 0.4] m/s, angular.z: [-0.8, 0.8] rad/s

Sample Message

geometry_msgs::msg::Twist twist_msg;
twist_msg.linear.x = 0.1;
twist_msg.linear.y = 0.0;
twist_msg.linear.z = 0.0;
twist_msg.angular.x = 0.0;
twist_msg.angular.y = 0.0;
twist_msg.angular.z = 0.0;

Test Method

• Publish a one-time message
  Use the following command to publish a one-time message to the /cmd_vel topic:

ros2 topic pub --once /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

• Continuously publish messages
  Use the following command to continuously publish messages to the /cmd_vel topic at a rate of 10 times per second:

ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.2, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

Notes

● Ensure that the ROS2 node has been started and is subscribing to the /cmd_vel topic.
● The format of the published message must strictly conform to the definition of the geometry_msgs::msg::Twist message type.
● When continuously publishing messages, be sure to control the publishing frequency to avoid network congestion.

C# Interface

void MoveRobot(float[] moveDirection)

Description
Control robot movement.

Parameters

Parameter	Type	Required/Default	Description
moveDirection	float[]	Required	Movement and rotation parameters. moveDirection[0]: Velocity component in the forward/backward direction, positive for forward, negative for backward. moveDirection[1]: Velocity component in the left/right direction, positive for left, negative for right. moveDirection[2]: Rotational velocity component, positive for counterclockwise, negative for clockwise. Ranges depend on gait and terrain (see below).

Returns

Type	Description
void	No return value.

Parameter Range Explanation:

• Normal Gait:
  • Flat Terrain: moveDirection[0]: [-1.0, 2.0] m/s, moveDirection[1]: [-0.4, 0.4] m/s, moveDirection[2]: [-0.8, 0.8] rad/s
  • Slope: moveDirection[0]: [-0.8, 0.8] m/s, moveDirection[1]: [-0.4, 0.4] m/s, moveDirection[2]: [-0.6, 0.6] rad/s
• RL Gait (All terrains including flat/slope):
  • moveDirection[0]: [-2.0, 2.0] m/s, moveDirection[1]: [-0.4, 0.4] m/s, moveDirection[2]: [-0.8, 0.8] rad/s

Notes

• Must be called continuously: To maintain movement, the robot requires continuous move commands (interval < 200ms); otherwise, it will automatically stop.
• Recommendation: Call this function at a frequency of 10–20 Hz to ensure smooth motion control.
• Stopping movement: Set all movement and rotation velocities to zero: MoveRobot(new float[] { 0, 0, 0 }).

Adjust Standing Height

C++ Interface

bool adjustBodyHeight(int percent)

Function Description
Adjust the robot body height.

Parameter Description

Parameter Name	Type	Required/Default	Description
percent	int	Required	Height percentage, range: 20–50.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
bool success = sport.adjustBodyHeight(30);
if (success) {
    std::cout << "Adjust Body Height Successful." << std::endl;
} else {
    std::cout << "Failed to Adjust Body Height." << std::endl;
}

Notes

• Ensure that the operation mode and the height adjustment ratio height_adjustment are integers within the range of 0 to 100.

Python Interface

body_height_adjust(percent, source=2)

Function Description
Adjust the robot's body height.

Parameter Description

Parameter Name	Type	Required/Default	Description
percent	int	Required	Body height percentage (25–50); for IS model, the maximum is 41 and the default is 34.
source	int	2	Control mode (1: Navigation Mode, 2: Joystick Mode).

Return Value

Type	Description
bool	Whether the operation was successful.

Example

from daystar_sdk.client import RobotClient
# Initialize the client
with RobotClient(host='192.168.144.105', port=50051) as client:
    # Adjust the robot's body height
    success = client.body_height_adjust(50)

ROS2 Interface

This service is used to adjust the robot's body height.

Service Name	Service Type	Role
/saturn/rc_height_scale	saturn_msgs::srv::HeightScale	Client

Request Message
The saturn_msgs::srv::HeightScale::Request message contains the following field:

Field Name	Type	Description
scale	int	Integer type, representing the height scale.

Example Message

saturn_msgs::srv::HeightScale::Request request;
request.scale = 8;

saturn_msgs::srv::HeightScale::Response response;

Test Method

ros2 service call /saturn/rc_height_scale saturn_msgs/srv/HeightScale "{scale: 8}"

C# Interface

void SetRobotHeight(int heightPercent)

Function Description
Control the robot's height.

Parameter Description

Parameter Name	Type	Required/Default	Description
heightPercent	int	Required	Height percentage, range 20–50. Robot height range: 0.2m–0.5m.

Return Value

Type	Description
void	No return value.

Set Gait

C++ Interface

bool setScene(SceneType sceneType)

Function Description
Set the robot's locomotion gait.

Parameter Description

Parameter Name	Type	Required/Default	Description
sceneType	SceneType	Required	Gait type, defined by the SceneType enum.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
SceneType sceneType = SceneType.WALKING;
bool success = sport.setScene(sceneType);
if (success) {
    std::cout << "Adjust Body Height Successful." << std::endl;
} else {
    std::cout << "Failed to Adjust Body Height." << std::endl;
}

Python Interface

set_scene(scene_type, source=2)

Function Description
Set the robot's scene.

Parameter Description

Parameter Name	Type	Required/Default	Description
scene_type	int	Required	Scene type. 2: Walking gait, 3: Stair gait, 8: Slope gait.
source	int	2	Control mode (1: Navigation Mode, 2: Joystick Mode).

Return Value

Type	Description
bool	Whether the operation was successful.

Note

Before calling this function, you must first call driver_enable(True) to enable the driver and then call lie_down_or_stand_up(True) to make the robot stand up.

Example

from daystar_sdk.client import RobotClient

# Initialize the client
with RobotClient(host='192.168.144.105', port=50051) as client:
    # Set the robot's movement gait
    success = client.set_scene(1)

ROS2 Interface

This service is used to adjust the robot's movement gait.

Service Name	Service Type	Role
/saturn/robot_command	ysc_robot_msgs::srv::RobotCommand	Client

Request Message
The ysc_robot_msgs::srv::RobotCommand::Request message type contains the following field:

Field Name	Type	Description
command_name	string	Represents the specific command.

Example Message

saturn_msgs::srv::HeightScale::Request request;
request.scale = "StairsGait"; //Stair gait

saturn_msgs::srv::HeightScale::Response response;

Test Method

ros2 service call /saturn/robot_command ysc_robot_msgs/srv/Robot_Command "{command_name: 'StairsGait'}"

C# Interface

void SetRobotScene(RobotSceneType robotSceneType)

Function Description
Set the robot's movement gait.

Parameter Description

Parameter Name	Type	Required/Default	Description
robotSceneType	RobotSceneType	Required	Gait type, using the RobotSceneType enumeration. RobotSceneType.Walking: Walking gait, RobotSceneType.Stairs: Stair gait, RobotSceneType.Slope: Slope gait, RobotSceneType.RlWalk: Reinforcement learning gait.

Return Value

Type	Description
void	No return value.

Notes

• The gait switching status and current gait can be obtained by monitoring MotionState. For detailed usage, refer to the "Motion Status Service Interface" section.
• The robot must be in a standing posture before setting the gait; otherwise, the operation will fail.

Demo Mode Control

C++ Interface

bool demoControl(int demoType, bool enable = true)

Function Description
Demo Control.

Parameter Description

Parameter Name	Type	Required/Default	Description
demoType	int	Required	Demo type: 2 (head shake), 3 (tail wag), 4 (wave).
enable	bool	true	Whether to enable.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}

auto &sport = sdk.getSport();
int demoType = 2;          // Example value: head shake
bool enable_demo = true;   // Example value: enable demo mode
bool success = sport.demoControl(demoType, enable_demo);

if (success) {
    std::cout << "Demo Mode Control Set Successfully." << std::endl;
} else {
    std::cout << "Failed to Set Demo Mode Control." << std::endl;
}

Notes

• Ensure that the provided demoType and enable status are valid.

Python Interface

demo_control(mode, enable, source=2)

Function Description
Demo control.

Parameter Description

Parameter Name	Type	Required/Default	Description
mode	int	Required	Demo mode: 2 (head shake), 3 (tail wag), 4 (wave).
enable	bool	Required	Whether to enable the demo mode.
source	int	2	Control mode (1: Navigation Mode, 2: Joystick Mode).

Return Value

Type	Description
bool	Whether the operation was successful.

Example

from daystar_sdk.client import RobotClient

# Initialize the client
with RobotClient(host='192.168.144.105', port=50051) as client:
    # Trigger demo mode: head shake
    success = client.demo_control(2, True)

C# Interface

void SetPlaybackRoutine(BionicActionType playType)

Function Description
Demo control.

Parameter Description

Parameter Name	Type	Required/Default	Description
playType	BionicActionType	Required	Type of demo action. BionicActionType.SAY_HELLO: Waving, BionicActionType.<br/>SHAKE_HAND: Head shaking, BionicActionType.FISHTAILING: Tail wagging.

Return Value

Type	Description
void	No return value.

Adjust Running Speed

C++ Interface

bool adjustSpeed(int percent)

Function Description
Adjust speed scaling factor. Sets the robot's movement speed scaling factor, which affects the actual execution speed of all motion commands.

Speed Calculation Formula:
The final movement speed is determined by:
Actual Speed = move() parameter × maxSpeed × (percent / 100)

Where:

• move() parameter: Velocity components in the range [-1.0, 1.0] passed via move(x, y, yaw)
• maxSpeed: The robot’s configured maximum speed (in m/s), retrievable via setStatusCallback
• percent: Speed percentage set by this function [0, 100]

Parameter Description

Parameter Name	Type	Required/Default	Description
percent	int	Required	Speed percentage, valid range: 0–100. 0: Stops all motion, 50: Uses 50% of max speed, 100: Uses 100% of max speed.

Return Value

Type	Description
bool	Whether the operation succeeded.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
bool success = sport.adjustSpeed(70);
if (success) {
    std::cout << "Adjust Speed Successfully." << std::endl;
} else {
    std::cout << "Failed to Adjust Speed." << std::endl;
}

Notes

• It is recommended to set an appropriate speed scaling factor before motion, especially using lower speeds during testing.
• Make sure the percentage is within the range of 0–100; values outside this range may cause unexpected behavior.

Python Interface

bool speed_adjust(percent, source=2)

Function Description
Adjusts the robot's speed.

Parameter Description

Parameter Name	Type	Required/Default	Description
percent	int	Required	Speed percentage (0–100).
source	int	2	Control mode (1: Navigation Mode, 2: Joystick Mode).

Return Value

Type	Description
bool	Whether the operation was successful.

Example

from daystar_sdk.client import RobotClient

# Initialize client
with RobotClient(host='192.168.144.105', port=50051) as client:
    # Adjust robot speed
    success = client.speed_adjust(62)

C# Interface

void SetRobotSpeed(int speedPercent)

Function Description
Adjust speed scaling factor. Sets the robot’s motion speed scaling factor, affecting the actual execution speed of all movement commands.

Parameter Description

Parameter Name	Type	Required/Default	Description
speedPercent	int	Required	Speed percentage (0–100). 0: Stops all motion, 50: Uses 50% of max speed, 100: Uses 100% of max speed.

Return Value

Type	Description
void	No return value.

Notes

• It is recommended to set a proper speed factor before moving the robot, especially using a lower speed during testing.
• Ensure the speedPercent is within the 0–100 range. Exceeding this may cause unexpected behavior.
• To obtain the robot’s maximum and current speed, refer to the Motion Status Service Interface section.

Software Emergency Stop

C++ Interface

bool emergencyStop()

Function Description
Software Emergency Stop.

Parameter Description
None.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
bool success = sport.emergencyStop();
if (success) {
    std::cout << "Emergency Stop Successfully." << std::endl;
} else {
    std::cout << "Failed to Emergency Stop." << std::endl;
}

Python Interface

driver_estop()

Function Description
Emergency stop for the driver.

Parameter Description
None.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

from daystar_sdk.client import RobotClient

# Initialize client
with RobotClient(host='localhost', port=50051) as client:
    # Trigger emergency stop
    success = client.driver_estop()

C# Interface

void SetDriverEStop()

Function Description
Software Emergency Stop.

Parameter Description
None.

Return Value

Type	Description
void	No return value.

Notes

• After triggering the robot's emergency stop, you must reset the software emergency stop before the robot can be re-enabled and controlled to stand.
• To obtain the robot's emergency stop status, please refer in detail to the "Motion Status Service Interface" section.

Resume from software emergency stop

C++ Interface

bool resumeFromEmergencyStop()

Function Description
Resume from software emergency stop.

Parameter Description
None.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
bool success = sport.resumeFromEmergencyStop();
if (success) {
    std::cout << "Resume From Emergency Stop Successfully." << std::endl;
} else {
    std::cout << "Failed to Resume From Emergency Stop." << std::endl;
}

Python Interface

resume_estop()

Function Description
Resume from software emergency stop.

Parameter Description
None.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

from daystar_sdk.client import RobotClient

# Initialize the client
with RobotClient(host='192.168.144.105', port=50051) as client:
    # Resume robot from software emergency stop
    success = client.resume_estop()

C# Interface

void SetResumeEStop()

Function Description
Resume from software emergency stop.

Parameter Description
None.

Return Value

Type	Description
void	No return value.

Set Control Mode

This service sets the robot's control mode, switching between manual or navigation mode.

C++ Interface

bool setControlMode(Lenovo::Daystar::ControllerMode controllerMode)

Function Description
Set control mode to navigation, joystick, or UWB.

Parameter Description

Parameter Name	Type	Required/Default	Description
controllerMode	Lenovo::Daystar::ControllerMode	Required	Control mode, using Lenovo::Daystar::ControllerMode enumeration. NAV_CONTROL: Navigation control mode, JOY_CONTROL: Joystick control mode, UWB_CONTROL: UWB control mode.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
Lenovo::Daystar::ControllerMode controllerMode = Lenovo::Daystar::ControllerMode.NAV_CONTROL;
bool success = sport.setControlMode(controllerMode);
if (success) {
    std::cout << "Set Control Mode Successful." << std::endl;
} else {
    std::cout << "Failed to Set Control Mode." << std::endl;
}

Notes

• Ensure that the control mode provided is valid.
• Set the robot pose.

Python Interface

set_nav_or_joy_control(nav_or_joy)

Function Description
Set navigation or joystick control mode.

Parameter Description

Parameter Name	Type	Required/Default	Description
nav_or_joy	int	Required	Control mode. 1: Navigation Mode, 2: Joystick Mode.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

from daystar_sdk.client import RobotClient
# Initialize the client
with RobotClient(host='192.168.144.105', port=50051) as client:
    # Set the robot to navigation control mode
    success = client.set_nav_or_joy_control(1)

ROS2 Interface

Service Name	Service Type	Role
/saturn/robot_command	ysc_robot_msgs::srv::RobotCommand	Client

Request Message
The message type ysc_robot_msgs::srv::RobotCommand::Request contains the following field:

Field Name	Type	Description
command_name	string	Specifies the command to execute. "EnableNavigation": Enables navigation mode "EnableTeleoption": Enables joystick control mode

Example Message

saturn_msgs::srv::HeightScale::Request request;
request.scale = "EnableNavigation"; //navigation mode

saturn_msgs::srv::HeightScale::Response response;

Test Method

ros2 service call /saturn/rc_nav_or_manual saturn_msgs/srv/NavOrManual "{command_name: 'EnableNavigation'}"

C# Interface

void SetControlMode(RobotControlType controlType)

Function Description
Set the robot control mode.

Parameter Description

Parameter Name	Type	Required/Default	Description
controlType	RobotControlType	Required	Control type. RobotControlType.Joy_Mode: Remote control mode, RobotControlType.Nav_Mode: Navigation mode, RobotControlType.Follow_Mode: Follow mode.

Return Value

Type	Description
void	No return value.

Notes

• When using manual control, set the mode to Remote Control Mode (Joy_Mode).
• To get the current control mode, please refer to the "Motion State Service Interface" section for details.

Set the Obstacle Avoidance Switch

C++ Interface

bool setGuardianSwitch(bool enable)

Function Description
Set the Obstacle Avoidance Switch.

Parameter Description

Parameter Name	Type	Required/Default	Description
enable	bool	Required	true to enable obstacle avoidance, false to disable.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

Lenovo::Daystar::SDK sdk;

if (!sdk.isConnected()) {
    std::cerr << "Can not connect SDK server with default settings"
              << std::endl;
    return 1;
} else {
    std::cout << "Connected with default settings" << std::endl;
}
auto &sport = sdk.getSport();
Lenovo::Daystar::ControllerMode controllerMode = Lenovo::Daystar::ControllerMode.NAV_CONTROL;
bool success = sport.setGuardianSwitch(true);;
if (success) {
    std::cout << "Set Control Mode Successful." << std::endl;
} else {
    std::cout << "Failed to Set Control Mode." << std::endl;
}

Python Interface

set_guardian_switch(guardian)

Function Description
Set obstacle avoidance (guardian) switch.

Parameter Description

Parameter Name	Type	Required/Default	Description
guardian	bool	Required	True: Enable obstacle avoidance, False: Disable obstacle avoidance.

Return Value

Type	Description
bool	Whether the operation was successful.

Example

from daystar_sdk.client import RobotClient

# Initialize the client
with RobotClient(host='192.168.144.105', port=50051) as client:
    # Enable the obstacle avoidance function
    success = client.set_guardian_switch(True)

C# Interface

void SetAvoidObstacle(bool enable)

Function Description
Set the obstacle avoidance switch.

Parameter Description

Parameter Name	Type	Required/Default	Description
enable	bool	Required	true to enable obstacle avoidance, false to disable it.

Return Value

Type	Description
void	No return value.

Note

• To retrieve the status of obstacle avoidance, please refer to the "Motion Status Service Interface" section for detailed usage instructions.