Examples

Several example clients are provided with the MDK. You can find these at ~/mdk/bin/shared. Generally, they will work with any of the development Profiles (though some features may be missing in some configurations).

client_gui

This is by far the most comprehensive example, showing how to access all of the upstream signals and to command all of the downstream signals.

client_stream

This client shows how to manage streaming of audio to the robot, keeping the buffer stuffed to ensure continuous playback.

client_*

Other clients illustrate how a user client might begin to be constructed, listening to and sending to various of the sensor and control topics.

C/C++

If you want to develop a client in C or C++ rather than Python, you will find the headers you need at ~/mdk/include and ~/mdk/catkin_ws/install/include.