Development Guide — Outline
Scope
For makers and developers who love to tinker and create — connect to the robot over SSH from a computer to write code, modify features and build your own projects.
Even if you are not a professional programmer, you can follow the tutorials as long as you are interested in coding.
Chapters
| Chapter | Title | Core Content |
|---|---|---|
| 1 | Development Environment Setup | SSH connection (pi/luwu images), VS Code Remote-SSH quick start, Vibe Coding with Qoder (natural-language coding, diff review, tuning tips), file transfer (scp/rsync), deploy from source (luwu_os official repo + install.sh, 14 steps) |
| 2 | System Architecture | Qt C++ Launcher + PySide6 Apps + Linux Kernel three layers, hardware spec table (9 peripherals), official architecture layers (Launcher/App/Hardware/IPC), boot flow (systemd services table & commands), FIFO IPC (incl. run.fifo external launch & single-app debugging), button system (incl. in-app keyPressEvent), directory layout (23 apps, incl. the new AI chat ai_chat_pro/voice_chat), model detection, 2.6 troubleshooting |
| 3 | Application Development | PySide6 template code (incl. 3.1.1 running the template & expected result/errors), light theme system (Color/qss/Font/Asset, incl. a real example), internationalization (Translator/t, incl. runtime language switching), creating a new app (galleryview CARDS registration + common issues), existing-app core tech stack table |
| 4 | xgolib Robot Control | Quadruped basic motion (4.1: minimal run-it script + expected result, connecting / directional semantics / attitude & translation / gaits & actions / arm / reading state, parameter range table, common-error table), wheel-legged Rider/RA advanced control (4.2 ra_/rider_), model compatibility (4.3 alias table & branching), debugging & verification tips (4.4), open-source origin (xgo_doglib) |
| 5 | MQTT Communication | Group performance (why MQTT, xgo/group/{room_id} topic protocol, presence/command/plan message format, one synced show timeline, NTP time sync & verification, UDP fallback), custom MQTT development (paho-mqtt, incl. 5.2.1 minimal verification & common issues) |
| 6 | AI Model Replacement | Complete ONNX model list (~15 model files, names vary by version, incl. the English/Chinese wake-word models) + model→app mapping (6.1/6.1.1, incl. grep to locate references), generic onnxruntime inference wrapper (6.2), replacing face-recognition/gesture-recognition models (6.3/6.4), common-problem troubleshooting table (6.5), performance tips and useful commands (6.6), checklist before & after (6.7) |