# flexiv_rdk

**Repository Path**: bryantaoli/flexiv_rdk

## Basic Information

- **Project Name**: flexiv_rdk
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2023-10-28
- **Last Updated**: 2023-10-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Flexiv RDK

![CMake Badge](https://github.com/flexivrobotics/flexiv_rdk/actions/workflows/cmake.yml/badge.svg)
[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://www.apache.org/licenses/LICENSE-2.0.html)

Flexiv RDK (Robotic Development Kit), a key component of the Flexiv Robotic Software Platform, is a powerful development toolkit that enables the users to create complex and customized robotic applications using APIs that provide both low-level real-time (RT) and high-level non-real-time (NRT) access to Flexiv robots.

## References

[Flexiv RDK Home Page](https://rdk.flexiv.com/) is the main reference. It contains important information including user manual and API documentation.

## Compatibility Overview

| **Supported OS**               | **Supported processor** | **Supported language** | **Required compiler kit** |
| ------------------------------ | ----------------------- | ---------------------- | ------------------------- |
| Linux (Ubuntu 18/20/22 tested) | x86_64, arm64           | C++, Python            | build-essential           |
| macOS 12 (Monterey)            | arm64                   | C++, Python            | Xcode Command Line Tools  |
| Windows 10                     | x86_64                  | C++, Python            | MSVC 14.0+                |

## Quick Start

**NOTE:** the full documentation is in [Flexiv RDK Manual](https://rdk.flexiv.com/manual/).

### C++ RDK

The C++ interface of Flexiv RDK is packed into a unified modern CMake library named ``flexiv_rdk``, which can be configured via CMake on all supported OS.

NOTE: if you will only be using Python RDK, you can skip this section and jump to [Python RDK](#python-rdk).

#### Compile and install for Linux

1. In a new Terminal, install C++ compiler, Git, and CMake (with GUI) using the package manager:

        sudo apt install build-essential git cmake cmake-qt-gui -y

2. Choose a directory for installing ``flexiv_rdk`` library and all its dependencies. For example, a new folder named ``rdk_install`` under the home directory.
3. In a new Terminal, use CMake to configure ``flexiv_rdk``:

        cd flexiv_rdk
        mkdir build && cd build
        cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install

   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` is a CMake parameter specifying the path of the chosen installation directory. Alternatively, this configuration step can also be done through CMake GUI.

4. Compile and install ``flexiv_rdk`` library:

        cd flexiv_rdk/build
        cmake --build . --target install --config Release

   NOTE: the installation of ``flexiv_rdk`` library is complete now. The following steps show how to link to the installed library from a user project.

5. To find and link to the installed ``flexiv_rdk`` library from a user project, using the provided example project for instance:

        cd flexiv_rdk/example
        mkdir build && cd build
        cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
        cmake --build . --config Release -j 4

   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` tells user project's CMake where to find the installed ``flexiv_rdk`` library.

6. Assuming the system setup detailed in the Flexiv RDK Manual is done, to run an compiled example program:

        ./<program_name> [robot_ip] [local_ip] [...]

   Note: ``sudo`` is not required unless prompted by the program saying "root privilege is required".

#### Compile and install for macOS

1. In a Terminal, use ``xcode-select`` command to invoke the installation of Xcode Command Line Tools, then follow the prompted window to finish the installation.
2. Download ``cmake-3.x.x-macos-universal.dmg`` from [CMake download page](https://cmake.org/download/) and install the dmg file. The minimum required version is 3.16.3.
3. When done, start CMake from Launchpad and navigate to Tools -> How to Install For Command Line Use. Then follow the instruction "Or, to install symlinks to '/usr/local/bin', run:" to install ``cmake`` and ``cmake-gui`` command for use in Terminal.
4. The rest steps are the same as [Compile and install for Linux](#compile-and-install-for-linux), beginning from step 2.

#### Compile and install for Windows

1. Install Microsoft Visual Studio with version 2015 or above (MSVC 14.0+). Choose the "Desktop development with C++" package during installation.
2. Download ``cmake-3.x.x-windows-x86_64.msi`` from [CMake download page](https://cmake.org/download/) and install the msi file. The minimum required version is 3.16.3. **Add CMake to system PATH** when prompted, so that ``cmake`` and ``cmake-gui`` command can be used from Command Prompt or a bash emulator.
3. Install a bash emulator. Git Bash that comes with Git (for Windows) installation is recommended.
4. Within the bash emulator, the rest steps are the same as [Compile and install for Linux](#compile-and-install-for-linux), beginning from step 2.

### Python RDK

Python 3.8 and 3.10 are supported by RDK, see Flexiv RDK Manual for more details. A brief instruction is provided below and applies to all supported OS.

1. Check Python version is 3.8.x or 3.10.x:

        python3 --version

2. Assume the system setup detailed in Flexiv RDK Manual is done, to run an example Python program:

        cd flexiv_rdk/example_py
        python3 <program_name>.py [robot_ip] [local_ip] [...]