magicdog_sdk

SDK Environment Requirements

This SDK requires the following software and hardware environment to function properly. Please ensure all dependencies are installed and configured before using the SDK.

1. Operating System

• Ubuntu 22.04 or later (recommended)

System Configuration

1. The following configurations need to be added to the /etc/security/limits.conf file for regular users:

*    -   rtprio   98

2. To increase the per-socket receive buffer size, add the following configurations to /etc/sysctl.conf and apply them immediately with sudo sysctl -p:

net.core.rmem_max=20971520  
net.core.rmem_default=20971520  
net.core.wmem_max=20971520  
net.core.wmem_default=20971520  

2. Compiler & Toolchain

• GCC ≥ 11.4 (for Linux)
• CMake ≥ 3.16
• Make build system
• Eigen3

3. Programming Language

• C++20 (minimum)
• python3.10

Build examples

To build the examples inside this reposity:

  mkdir build
  cd build
  cmake .. -DBUILD_EXAMPLES=ON
  make -j8

Doc

Installing Sphinx dependencies:

  pip install sphinx
  pip install myst-parser
  pip install linkify-it-py
  pip install sphinx_rtd_theme

Build Sphinx documentation：

  cd doc/
  make html

Enter doc/build/html directory, and open index.html

C++ SDK Installation

To build your own application with this SDK, you can install the magicdog_sdk to specified directory:

  mkdir build
  cd build
  cmake .. -DCMAKE_INSTALL_PREFIX=/opt/magic_robotics/magicdog_sdk
  make -j8
  sudo make install

You can refer to example/cpp/cmake_sample on how to import the magicdog_sdk into your CMake project.

  cd example/cpp/cmake_example
  mkdir build
  cd build
  cmake .. -DCMAKE_PREFIX_PATH=/opt/magic_robotics/magicdog_sdk
  make -j8

Note that the path specified by -DCMAKE_PREFIX_PATH must be the same as the installation directory used above.

Python SDK Installation

The Python bindings are automatically installed when you build the SDK. After building, you can use the Python SDK by setting the appropriate environment variables:

# Set up environment variables for Python SDK
export PYTHONPATH=/opt/magic_robotics/magicdog_sdk/lib:$PYTHONPATH
export LD_LIBRARY_PATH=/opt/magic_robotics/magicdog_sdk/lib:$LD_LIBRARY_PATH

You can also add these environment variables to your shell profile (e.g., ~/.bashrc) for permanent setup.

Notice

• The Python SDK provides the same functionality as the C++ SDK with a more Pythonic interface
• All Python examples are located in the example/python/ directory
• Make sure to set the correct environment variables (PYTHONPATH and LD_LIBRARY_PATH) when using the Python SDK
• The Python bindings are automatically generated during the build process

For more reference information, please go to MagicRobotics