克隆下来必须带上正在用的视觉权重和本机 site.yaml，否则感知只能指到一台机器上的路径，别人起不来。

顶视迁臂改走厂家 MoveL，D405 框心对准后再对孔；夹爪停在 caught 时 open 不再把相同目标当成已经张开，init 会真的回零。 Co-authored-by: Cursor <cursoragent@cursor.com>
2026-10-12 17:08:43 +08:00
parent b903161113
commit f882c4309c
187 changed files with 22898 additions and 104 deletions
@@ -0,0 +1,65 @@
+---
+Language: Proto
+BasedOnStyle: Google
+---
+Language: Cpp
+AccessModifierOffset: -4
+AlignAfterOpenBracket: false
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlinesLeft: false
+AlignOperands: true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BasedOnStyle: WebKit
+BinPackArguments: true
+BinPackParameters: true
+BreakBeforeBraces: Mozilla
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: true
+ColumnLimit: 100
+CommentPragmas: "^ IWYU pragma:"
+ConstructorInitializerAllOnOneLineOrOnePerLine: false
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros: [foreach, Q_FOREACH, BOOST_FOREACH]
+IndentCaseLabels: true
+IndentWidth: 4
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ""
+MacroBlockEnd: ""
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+PenaltyBreakBeforeFirstCallParameter: 100
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 10000
+PointerAlignment: Left
+ReflowComments: true
+SortIncludes: false
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard: Cpp11
+TabWidth: 4
+UseTab: Never
@@ -0,0 +1,38 @@
+---
+name: Bug Report
+about: Report a bug to help us improve
+title: "[BUG] "
+type: Bug
+labels: bug
+assignees: bsoe-flexiv
+
+---
+
+## Version info
+
+- Sim Plugin: [e.g. v1.2]
+- OS: [e.g. Ubuntu 22.04, x86_64]
+
+## How urgent is this bug? Have you found any workarounds?
+
+On a scale of 1 to 10.
+
+## Describe the issue and expected behavior
+
+The issue is ...
+The correct behavior you expect is  ...
+
+## Steps to reproduce
+
+1. '....'
+2. '....'
+3. '....'
+4. See error
+
+## Screenshots
+
+If applicable, add screenshots to help explain your issue.
+
+## Additional context
+
+Add any other context about the issue.
@@ -0,0 +1,29 @@
+---
+name: Feature Request
+about: Suggest a new feature
+title: "[FEATURE] "
+type: Feature
+labels: enhancement
+assignees: bsoe-flexiv
+
+---
+
+## How urgent is this feature?
+
+On a scale of 1 to 10.
+
+## Is this feature related to a problem?
+
+This new feature is needed so that ... can be solved.
+
+## Describe the solution you'd like
+
+What you want to happen.
+
+## Describe alternatives you've considered
+
+Any alternative solutions or workarounds you've considered.
+
+## Additional context
+
+Add any other context or screenshots about this feature.
@@ -0,0 +1,25 @@
+---
+name: Question
+about: Ask a question related to Sim Plugin
+title: "[QUESTION] "
+type: Question
+labels: help wanted
+assignees: bsoe-flexiv
+
+---
+
+## There might already be an answer to your question
+
+Someone might have asked similar questions before, you can search in the [Issues](https://github.com/flexivrobotics/flexiv_sim_plugin/issues?q=type%3AQuestion) tab.
+
+## Not sure how to get started?
+
+You can take a look at [Isaac Sim Workspace](https://github.com/flexivrobotics/isaac_sim_ws) which uses this plugin to build the simulation workflow.
+
+## Is this related to a specific version of Sim Plugin?
+
+If yes, please specify.
+
+## Please describe your question
+
+Texts, screenshots, links, code blocks ...
@@ -0,0 +1,21 @@
+name: CMake
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build-ubuntu-22:
+    # GitHub-hosted Ubuntu 22.04 runner
+    runs-on: ubuntu-22.04
+    # Use shared steps
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/workflows/shared_steps
@@ -0,0 +1,31 @@
+name: "Shared Build Steps"
+runs:
+  using: "composite"
+  # Note: working directory will be reset to the repo root for each new step
+  steps:
+    # Build and install all dependencies to RDK installation directory.
+    - name: Build and install dependencies
+      shell: bash
+      run: |
+        pwd
+        cd thirdparty
+        bash build_and_install_dependencies.sh ~/sim_plugin_install 4
+
+    # Configure CMake, then build and install flexiv_rdk library to RDK installation directory.
+    - name: Build and install library
+      shell: bash
+      run: |
+        pwd
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_INSTALL_PREFIX=~/sim_plugin_install
+        cmake --build . --target install --config Release
+
+    # Find and link to flexiv_rdk library, then build all example programs.
+    - name: Build examples
+      shell: bash
+      run: |
+        pwd
+        cd example
+        mkdir -p build && cd build
+        cmake .. -DCMAKE_PREFIX_PATH=~/sim_plugin_install
+        cmake --build . --config Release -j 4
@@ -0,0 +1,14 @@
+.vscode
+.vs
+.DS_Store
+config.h
+build*/
+install/
+cloned/
+html/
+__pycache__
+
+# Pre-built static libraries are attached to GitHub releases as assets, not
+# committed. Only the .sha256 checksum is tracked; the .a is downloaded by
+# CMake at configure time.
+lib/*.a
@@ -0,0 +1,100 @@
+cmake_minimum_required(VERSION 3.16.3)
+
+# ===================================================================
+#      PROJECT SETUP
+# ===================================================================
+project(flexiv_sim_plugin VERSION 1.3.0)
+
+# Configure build type
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
+endif()
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Release" "Debug" "RelWithDebInfo" "MinSizeRel")
+
+# Set static library according to platform
+message(STATUS "OS: ${CMAKE_SYSTEM_NAME}")
+message(STATUS "Processor: ${CMAKE_SYSTEM_PROCESSOR}")
+if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
+  if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
+    set(SIM_PLUGIN_LIB "libflexiv_sim_plugin.x86_64-linux-gnu.a")
+  else()
+    message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
+  endif()
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
+    message(FATAL_ERROR "macOS is currently not supported.")
+elseif(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+    message(FATAL_ERROR "Windows is currently not supported.")
+endif()
+
+# Download the pre-built static library from the matching GitHub release and
+# verify it against the committed checksum. The .a itself is not tracked in
+# this repo, only lib/${SIM_PLUGIN_LIB}.sha256.
+file(READ ${CMAKE_CURRENT_SOURCE_DIR}/lib/${SIM_PLUGIN_LIB}.sha256 EXPECTED_HASH)
+set(SIM_PLUGIN_LIB_URL https://github.com/flexivrobotics/flexiv_sim_plugin/releases/download/v${PROJECT_VERSION}/${SIM_PLUGIN_LIB})
+set(SIM_PLUGIN_LIB_PATH ${CMAKE_CURRENT_BINARY_DIR}/${SIM_PLUGIN_LIB})
+message(STATUS "Downloading ${SIM_PLUGIN_LIB_URL} ...")
+file(DOWNLOAD ${SIM_PLUGIN_LIB_URL} ${SIM_PLUGIN_LIB_PATH}
+     SHOW_PROGRESS
+     TLS_VERIFY ON
+     EXPECTED_HASH SHA256=${EXPECTED_HASH}
+     STATUS status)
+list(GET status 0 code)
+if(code EQUAL 0)
+  message(STATUS "Download finished")
+else()
+  message(FATAL_ERROR "Download failed: ${status}")
+endif()
+
+# ===================================================================
+#      PROJECT DEPENDENCIES
+# ===================================================================
+# Threads
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+find_package(Threads REQUIRED)
+message(STATUS "Found Threads")
+
+# spdlog
+find_package(spdlog REQUIRED)
+message(STATUS "Found spdlog v${spdlog_VERSION}: ${spdlog_DIR}")
+
+# Fast-DDS (Fast-RTPS)
+find_package(fastrtps REQUIRED)
+message(STATUS "Found fastrtps v${fastrtps_VERSION}: ${fastrtps_DIR}")
+
+# Fast-CDR
+find_package(fastcdr REQUIRED)
+message(STATUS "Found fastcdr v${fastcdr_VERSION}: ${fastcdr_DIR}")
+
+# ===================================================================
+#      CREATE LIBRARY
+# ===================================================================
+# Create static library target with dummy source
+add_library(${PROJECT_NAME} STATIC ${CMAKE_CURRENT_SOURCE_DIR}/lib/dummy.cpp)
+
+# Create an alias of the target with flexiv namespace
+add_library(flexiv::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+
+# Set include directories
+target_include_directories(${PROJECT_NAME} PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+# Link to dependencies
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  Threads::Threads
+  spdlog::spdlog
+  fastrtps
+  fastcdr
+)
+
+# Use moderate compiler warning option
+if(CMAKE_HOST_UNIX)
+  target_compile_options(${PROJECT_NAME} PUBLIC -Wall -Wextra)
+else()
+  target_compile_options(${PROJECT_NAME} PUBLIC /W1)
+endif()
+
+# Install the library
+include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FlexivInstallLibrary.cmake)
+FlexivInstallLibrary()
@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
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+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
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+      PARTICULAR PURPOSE. You are solely responsible for determining the
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+      risks associated with Your exercise of permissions under this License.
+
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
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+   9. Accepting Warranty or Additional Liability. While redistributing
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+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
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+      file or class name and description of purpose be included on the
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+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
@@ -0,0 +1,162 @@
+# Flexiv Sim Plugin
+
+![CMake Badge](https://github.com/flexivrobotics/flexiv_sim_plugin/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)
+
+
+## Overview
+
+Flexiv Sim Plugin is a C++/Python library that bridges **Flexiv Elements Studio** and any external physics simulator, so that simulated Flexiv robots are driven by the same high-performance force-torque controller used on real robots — without requiring you to deal with the underlying IPC.
+
+```
+┌──────────────────────────────────────────┐
+│       User Program with RDK Client       │
+│          (send robot commands)           │
+└────────────────────┬─────────────────────┘
+                     │ RDK API
+                     ▼
+┌──────────────────────────────────────────┐
+│         Flexiv Elements Studio           │
+│   (simulated controller + RDK Server)    │
+└────────────────────┬─────────────────────┘
+                     │ Flexiv Sim Plugin API
+                     ▼
+┌────────────────────────────────────────────┐
+│          External Simulator                |
+│ (Flexiv Sim Plugin API + External sim API) │
+└────────────────────────────────────────────┘
+```
+
+## Supported External Simulators
+
+The following external simulators are tested and known to work with Flexiv Sim Plugin:
+
+- NVIDIA [Isaac Sim](https://developer.nvidia.com/isaac/sim) (a template workspace is available [here](https://github.com/flexivrobotics/isaac_sim_ws))
+- [MuJoCo](https://mujoco.org/)
+
+In theory, any simulator that meets the following criteria should work:
+
+1. Has a C++ or Python interface.
+2. Provides joint positions and velocities of the simulated robot.
+3. Actuates the joints of the simulated robot by torque.
+
+
+## Environment Compatibility
+
+| **OS**                | **Platform** | **C++ compiler kit** | **Python interpreter** |
+| --------------------- | ------------ | -------------------- | ---------------------- |
+| Linux (Ubuntu 20.04+) | x86_64       | GCC v9.4+            | 3.10, 3.12, 3.14       |
+
+
+## Quick Start - Python
+
+### Install the Python package
+
+On all supported platforms, the Python package of Sim Plugin for a specific Python version can be installed using the `pip` module:
+
+    python3 -m pip install flexivsimplugin
+
+NOTE: replace python3 with a specific version (e.g. python3.10) if your default python3 is not one of the versions listed in the table above.
+
+### Use the installed Python package
+
+After the ``flexivsimplugin`` Python package is installed, it can be imported from any Python script. Test with the following commands in a new Terminal, which should start Flexiv Sim Plugin:
+
+    python3
+    import flexivsimplugin
+    node = flexivsimplugin.UserNode("Rizon4-123456")
+    print("Connected = ", node.connected())
+
+The program should print some info messages and "Connected = False" at the end.
+
+### Run the example Python script
+
+An example script that mocks an external simulator is provided and can be used to test the plugin with the following steps:
+
+1. Setup and run Flexiv Elements Studio simulation. See [docs/elements_studio_setup.md](docs/elements_studio_setup.md).
+
+2. Start the mock program:
+
+       cd flexiv_sim_plugin/example_py
+       python3 -m pip install spdlog
+       python3 ./mock_external_simulator.py [robot_serial_number]
+
+   NOTE: the robot serial number provided to the program is the same one you noted down when creating the simulated robot in Flexiv Elements Studio.
+
+3. Wait for the connection to establish. If the connection is successful, you should see the visualized robot in Elements Studio moving every joint back and forth. NOTE: a software error should occur in Elements Studio which is expected because the mock external simulator did not close the loop by applying the calculated joint torques command to the simulated robot in it. This won't happen to real external simulators.
+
+
+## Quick Start - C++
+
+### Prepare build tools
+
+#### Linux
+
+1. Install compiler kit using package manager:
+
+       sudo apt install build-essential
+
+2. Install CMake using package manager:
+
+       sudo apt install cmake
+
+### Install the C++ library
+
+The following steps are identical on all supported platforms.
+
+1. Choose a directory for installing the C++ library of Sim Plugin and its dependencies. This directory can be under system path or not, depending on whether you want Sim Plugin to be globally discoverable by CMake. For example, a new folder named ``sim_plugin_install`` under the home directory.
+
+2. In a new Terminal, run the provided script to compile and install all dependencies to the installation directory chosen in step 1:
+
+       cd flexiv_sim_plugin/thirdparty
+       bash build_and_install_dependencies.sh ~/sim_plugin_install
+
+3. In a new Terminal, configure the ``flexiv_sim_plugin`` CMake project:
+
+       cd flexiv_sim_plugin
+       mkdir build && cd build
+       cmake .. -DCMAKE_INSTALL_PREFIX=~/sim_plugin_install
+
+   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` sets the absolute path of the installation directory, which should be the one chosen in step 1.
+
+4. Install ``flexiv_sim_plugin`` C++ library to ``CMAKE_INSTALL_PREFIX`` path, which may or may not be globally discoverable by CMake:
+
+       cd flexiv_sim_plugin/build
+       cmake --build . --target install --config Release
+
+### Use the installed C++ library
+
+After the library is installed as ``flexiv_sim_plugin`` CMake target, it can be linked from any other CMake projects. Using the provided `flexiv_sim_plugin-examples` project for instance:
+
+    cd flexiv_sim_plugin/example
+    mkdir build && cd build
+    cmake .. -DCMAKE_PREFIX_PATH=~/sim_plugin_install
+    cmake --build . --config Release -j 4
+
+NOTE: ``-D`` followed by ``CMAKE_PREFIX_PATH`` tells the user project's CMake where to find the installed C++ library. This argument can be skipped if the Sim Plugin library and its dependencies are installed to a globally discoverable location.
+
+### Run the example C++ program
+
+An example program that mocks an external simulator is provided and can be used to test the plugin with the following steps:
+
+1. Setup and run Flexiv Elements Studio simulation. See [docs/elements_studio_setup.md](docs/elements_studio_setup.md).
+
+2. Start the mock program:
+
+       cd flexiv_sim_plugin/example/build
+       ./mock_external_simulator [robot_serial_number]
+
+   NOTE: the robot serial number provided to the program is the same one you noted down when creating the simulated robot in Flexiv Elements Studio.
+
+3. Wait for the connection to establish. If the connection is successful, you should see the visualized robot in Elements Studio moving every joint back and forth. NOTE: a software error should occur in Elements Studio which is expected because the mock external simulator did not close the loop by applying the calculated joint torques command to the simulated robot in it. This won't happen to real external simulators.
+
+## API Documentation
+
+The API documentation can be generated using Doxygen. For example, on Linux:
+
+    sudo apt install doxygen-latex graphviz
+    cd flexiv_sim_plugin
+    doxygen doc/Doxyfile.in
+
+Open any html file under ``flexiv_sim_plugin/doc/html/`` with your browser to view the doc.
+
@@ -0,0 +1,103 @@
+# This macro will install ${PROJECT_NAME} to ${CMAKE_INSTALL_PREFIX} when running make install
+#
+# FlexivInstallLibrary() will install all subfolders of ${CMAKE_CURRENT_SOURCE_DIR}/include
+# FlexivInstallLibrary(install_directories) will install only the specified install_directories
+#
+# Requirements:
+# 1. project structure should resemble:
+#    project
+#     - README.md
+#     - CMakeLists.txt that calls this macro
+#     - cmake/${PROJECT_NAME}-config.cmake.in
+#     - include/subfolder/*.h or *.hpp
+# 2. build the library using cmake target functions
+#    - add_library(${PROJECT_NAME} ...) before calling this macro
+#    - target_include_directories(${PROJECT_NAME} ...)
+#    - target_link_libraries(${PROJECT_NAME} ...)
+#    - target_compile_features(${PROJECT_NAME} ...)
+#    - target_compile_options(${PROJECT_NAME} ...)
+#
+# Installed files:
+# - include/subfolder/*.h or *.hpp
+# - lib/lib{PROJECT_NAME}
+# - lib/cmake/{PROJECT_NAME}/
+
+macro(FlexivInstallLibrary)
+    # copy the executables and libraries to the CMAKE_INSTALL_PREFIX DIRECTORY
+    # GNUInstallDirs will set CMAKE_INSTALL* to be the standard relative paths
+    include(GNUInstallDirs)
+    install(TARGETS ${PROJECT_NAME}
+        EXPORT "${PROJECT_NAME}-targets"
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        )
+
+    if(${ARGC} EQUAL 0)
+        # install all subfolders of ${CMAKE_CURRENT_SOURCE_DIR}/include
+        file(GLOB install_directories ${CMAKE_CURRENT_SOURCE_DIR}/include/*)
+        foreach(install_directory ${install_directories})
+            if(IS_DIRECTORY ${install_directory})
+                install(DIRECTORY ${install_directory}
+                        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+                        FILES_MATCHING 
+                        PATTERN "*.h"
+                        PATTERN "*.hpp"
+                )
+            endif()
+        endforeach()
+    elseif(${ARGC} EQUAL 1)
+        # install specified directories only
+        foreach(install_directory ${ARGV0})
+            install(DIRECTORY ${install_directory}
+                    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+                    FILES_MATCHING 
+                    PATTERN "*.h"
+                    PATTERN "*.hpp"
+                    )
+        endforeach()
+    else()
+        message(FATAL_ERROR "FlexivInstallLibrary take 0 or 1 argument, but given ${ARGC}")
+    endif()
+
+    # Create a *config-version.cmake file so that find_package can have a version specified
+    include(CMakePackageConfigHelpers)
+    write_basic_package_version_file(
+        "${PROJECT_NAME}-config-version.cmake"
+        VERSION ${PROJECT_VERSION}
+        COMPATIBILITY AnyNewerVersion
+        )
+
+    # Copy the *-targets.cmake file to the CMAKE_INSTALL_PREFIX directory
+    install(EXPORT "${PROJECT_NAME}-targets"
+            FILE "${PROJECT_NAME}-targets.cmake"
+            NAMESPACE "flexiv::"
+            DESTINATION "lib/cmake/${PROJECT_NAME}"
+            )
+
+    # Copy the *.-config file to the CMAKE_INSTALL_PREFIX directory. This will specify the dependencies.
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${PROJECT_NAME}-config.cmake.in" "${PROJECT_NAME}-config.cmake" @ONLY)
+    install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
+                  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
+            DESTINATION "lib/cmake/${PROJECT_NAME}"
+            )
+
+    # Replace the dummy static lib with the actual static lib 
+    install(CODE 
+            "file(REMOVE ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/${CMAKE_STATIC_LIBRARY_PREFIX}${PROJECT_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX})")
+    install(FILES ${SIM_PLUGIN_LIB_PATH}
+            DESTINATION ${CMAKE_INSTALL_LIBDIR}
+            RENAME ${CMAKE_STATIC_LIBRARY_PREFIX}${PROJECT_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+
+    # Use the CPack Package Generator
+    set(CPACK_PACKAGE_VENDOR "Flexiv")
+    set(CPACK_PACKAGE_CONTACT "support@flexiv.com")
+    set(CPACK_PACKAGE_DESCRIPTION "Flexiv Sim Plugin")
+    set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
+    set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
+    set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
+    set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
+    set(CPACK_RESOURCE_FILE_README  "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
+    include(CPack)
+endmacro()
@@ -0,0 +1,11 @@
+include(CMakeFindDependencyMacro)
+
+# Find dependency
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+find_dependency(Threads REQUIRED)
+find_dependency(spdlog REQUIRED)
+find_dependency(fastrtps REQUIRED)
+find_dependency(fastcdr REQUIRED)
+
+# Add targets file
+include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")
@@ -0,0 +1,30 @@
+# Flexiv Elements Studio Setup
+
+Flexiv Elements Studio runs the simulated robot controller. 
+Set it up once before running any external-simulator workspace.
+
+## Install Elements Studio on Ubuntu
+
+1. [Contact Flexiv](https://www.flexiv.com/contact) to obtain the installation package of Elements Studio.
+2. Extract the package to a non-root directory.
+3. Install Elements Studio:
+
+       bash setup_FlexivElements.sh
+
+4. Switch physics engine from the default built-in to external:
+
+       bash switch_physics_engine.sh
+
+   Select *External* when prompted.
+
+## Create a simulated robot in Elements Studio
+
+1. Start Flexiv Elements Studio from the application menu.
+2. In the Robot Connection window, select *Simulator*, and click *CREATE*.
+3. Choose "Create according to the selected robot type" and select one from the list, then click *CONFIRM*. A new simulated robot will be added to the simulator list.
+4. Toggle on the *Connect* button for the newly added one, then wait for loading.
+5. When loading is finished, you'll see a robot at its upright pose, with an "Exception" error at the bottom right corner. This is expected because the external simulator is not started yet. But if you see a normally operating robot, that again means you are running the wrong version of Elements Studio that only supports the built-in physics engine.
+6. To enable RDK, Click Settings → Remote Mode → Select a Mode → Ethernet. In the resulting popup window, restart the simulated robot.
+7. Toggle the virtual motion bar slider button to the "auto" position. In the resulting popup window, select "AUTO (REMOTE)".
+8. At the bottom of the window, click on the small robot icon with a "SIM" tag on it, then a small window will pop up, note down the displayed robot serial number.
+
@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.16.3)
+project(flexiv_sim_plugin-examples)
+
+# Show verbose build info
+SET(CMAKE_VERBOSE_MAKEFILE ON)
+
+message("OS: ${CMAKE_SYSTEM_NAME}")
+message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
+
+# Configure build type
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
+endif()
+
+# Minimum example list for all OS
+set(EXAMPLE_LIST
+  mock_external_simulator
+)
+
+# Find flexiv_sim_plugin INTERFACE library
+find_package(flexiv_sim_plugin REQUIRED)
+
+# Build all selected examples
+foreach(example ${EXAMPLE_LIST})
+  add_executable(${example} ${example}.cpp)
+  target_link_libraries(${example} flexiv::flexiv_sim_plugin)
+
+  # C++17 required
+  set_target_properties(${example} PROPERTIES
+    CXX_STANDARD 17
+    CXX_STANDARD_REQUIRED ON)
+endforeach()
@@ -0,0 +1,135 @@
+/**
+ * @example mock_external_simulator.cpp
+ * A simple example demonstrating how to use Flexiv Sim Plugin in an external simulator. Please
+ * refer to README on how to run this example.
+ * @copyright Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved.
+ * @author Flexiv
+ */
+
+#include <flexiv/sim_plugin/user_node.hpp>
+#include <spdlog/spdlog.h>
+
+#include <math.h>
+#include <iostream>
+#include <iomanip>
+#include <thread>
+
+using namespace flexiv;
+
+namespace {
+// Frequency of the external simulator's physics loop [Hz]
+constexpr unsigned int kPhysicsFreq = 2000;
+// Period of the external simulator's physics loop [sec]
+constexpr double kPhysicsPeriod = 1.0 / kPhysicsFreq;
+
+// Sine-sweep trajectory amplitude and frequency
+constexpr double kSineAmp = 0.035;
+constexpr double kSineFreq = 0.3;
+
+// Initial joint positions when the robot is at home posture [rad]
+const std::vector<float> kInitQ = {0.0, -0.698132, 0.0, 1.5708, 0.0, 0.698132, 0.0};
+
+// Joint degrees of freedom
+constexpr size_t kJointDof = 7;
+
+// Servo cycle of the physics loop
+unsigned int g_servo_cycle = 0;
+}
+
+/** @brief Print program usage help */
+void PrintHelp()
+{
+    // clang-format off
+    std::cout << "Required arguments: [robot_sn]" << std::endl;
+    std::cout << "    robot_sn: Serial number of the robot in Flexiv Elements Studio to connect. Remove any space, e.g. Rizon4s-123456" << std::endl;
+    std::cout << "Optional arguments: None" << std::endl;
+    std::cout << std::endl;
+    // clang-format on
+}
+
+/** @brief Step once the external simulator's physics loop. */
+void StepPhysics(sim_plugin::UserNode& user_node)
+{
+    // Record time point at the beginning of this cycle
+    auto current_time = std::chrono::steady_clock::now();
+
+    // Step 1: obtain robot states from the external simulator
+    // =============================================================================================
+    // Mocked robot states
+    sim_plugin::SimRobotStates robot_states;
+    robot_states.q.resize(kJointDof);
+    robot_states.dq.resize(kJointDof);
+
+    // Set and increment servo cycle per physics step
+    robot_states.servo_cycle = g_servo_cycle++;
+
+    // Set joint positions to sine waves
+    for (size_t i = 0; i < kInitQ.size(); i++) {
+        robot_states.q[i]
+            = kInitQ[i] + kSineAmp * sin(2 * M_PI * kSineFreq * g_servo_cycle * kPhysicsPeriod);
+    }
+
+    // Set joint velocities to corresponding cosine waves
+    for (size_t i = 0; i < kInitQ.size(); i++) {
+        robot_states.dq[i] = kSineAmp * 2 * M_PI * kSineFreq
+                             * cos(2 * M_PI * kSineFreq * g_servo_cycle * kPhysicsPeriod);
+    }
+
+    // Step 2: send robot states to Flexiv Elements Studio
+    // =============================================================================================
+    if (!user_node.SendRobotStates(robot_states)) {
+        spdlog::error("Failed to send robot states data");
+    }
+
+    // Step 3: wait for Elements Studio to calculate and deliver new robot commands
+    // =============================================================================================
+    // Must set a timeout value to avoid deadlock
+    constexpr unsigned int kWaitTimeoutMs = 100;
+    if (!user_node.WaitForRobotCommands(kWaitTimeoutMs)) {
+        spdlog::error("WaitForRobotCommands() timeout");
+    }
+
+    // Step 4: apply joint torques command to the simulated robot in the external simulator
+    // =============================================================================================
+    auto target_joint_torques = user_node.robot_commands().target_drives;
+    // Call the external simulator's API to apply the target joint torques
+
+    // End the current physics step with kPhysicsPeriod as the total loop period
+    auto loop_period_us = static_cast<unsigned int>(kPhysicsPeriod * 1'000'000);
+    std::this_thread::sleep_until(current_time + std::chrono::microseconds(loop_period_us));
+}
+
+int main(int argc, char* argv[])
+{
+    // Program Setup
+    // =============================================================================================
+    // Parse parameters
+    if (argc < 2) {
+        PrintHelp();
+        return 1;
+    }
+    // Serial number of the robot to connect to. Remove any space, for example: Rizon4s-123456
+    std::string robot_sn = argv[1];
+
+    // Print description
+    spdlog::info(
+        ">>> Tutorial description <<<\nA simple example demonstrating how to use Flexiv Sim Plugin "
+        "in an external simulator.\n");
+
+    // Create user node
+    sim_plugin::UserNode user_node(robot_sn);
+
+    // Wait for connected
+    while (!user_node.connected()) {
+        spdlog::warn("Waiting for connection with Flexiv Elements Studio");
+        std::this_thread::sleep_for(std::chrono::seconds(1));
+    }
+    spdlog::info("Connected with Flexiv Elements Studio, starting mocked physics loop");
+
+    // Run mocked physics loop
+    while (user_node.connected()) {
+        StepPhysics(user_node);
+    }
+
+    return 0;
+}
@@ -0,0 +1,130 @@
+#!/usr/bin/env python
+
+"""mock_external_simulator.py
+
+A simple example demonstrating how to use Flexiv Sim Plugin in an external simulator. Please
+refer to README on how to run this example.
+"""
+
+__copyright__ = "Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved."
+__author__ = "Flexiv"
+
+import time
+import math
+import argparse
+import spdlog  # pip install
+import flexivsimplugin  # pip install
+
+# Frequency of the external simulator's physics loop [Hz]
+PHYSICS_FREQ = 2000
+# Period of the external simulator's physics loop [sec]
+PHYSICS_PERIOD = 1.0 / PHYSICS_FREQ
+
+# Sine-sweep trajectory amplitude and frequency
+SINE_AMP = 0.035
+SINE_FREQ = 0.3
+
+# Initial joint positions when the robot is at home posture [rad]
+INIT_Q = [0.0, -0.698132, 0.0, 1.5708, 0.0, 0.698132, 0.0]
+
+# Joint degrees of freedom
+JOINT_DOF = 7
+
+# Servo cycle of the physics loop
+g_servo_cycle = 0
+
+
+def step_physics(user_node, logger):
+    """
+    Step once the external simulator's physics loop.
+
+    """
+
+    # Step 1: obtain robot states from the external simulator
+    # =============================================================================================
+    # Mocked robot states
+    robot_states = flexivsimplugin.SimRobotStates()
+
+    # Set and increment servo cycle per physics step
+    global g_servo_cycle
+    g_servo_cycle += 1
+    robot_states.servo_cycle = g_servo_cycle
+
+    # robot_states.q and dq are fixed-size tuples and don't support per-element assignment
+    temp_list = [0] * JOINT_DOF
+
+    # Set joint positions to sine waves
+    for i in range(JOINT_DOF):
+        temp_list[i] = INIT_Q[i] + SINE_AMP * math.sin(
+            2 * math.pi * SINE_FREQ * g_servo_cycle * PHYSICS_PERIOD
+        )
+    robot_states.q = temp_list
+
+    # Set joint velocities to corresponding cosine waves
+    for i in range(JOINT_DOF):
+        temp_list[i] = (
+            SINE_AMP
+            * 2
+            * math.pi
+            * SINE_FREQ
+            * math.cos(2 * math.pi * SINE_FREQ * g_servo_cycle * PHYSICS_PERIOD)
+        )
+    robot_states.dq = temp_list
+
+    # Step 2: send robot states to Flexiv Elements Studio
+    # =============================================================================================
+    if not user_node.SendRobotStates(robot_states):
+        logger.error("Failed to send robot states data")
+
+    # Step 3: wait for Elements Studio to calculate and deliver new robot commands
+    # =============================================================================================
+    # Must set a timeout value to avoid deadlock
+    WAIT_TIMEOUT_MS = 100
+    if not user_node.WaitForRobotCommands(WAIT_TIMEOUT_MS):
+        logger.error("WaitForRobotCommands() timeout")
+
+    # Step 4: apply joint torques command to the simulated robot in the external simulator
+    # =============================================================================================
+    target_joint_torques = user_node.robot_commands().target_drives
+    # Call the external simulator's API to apply the target joint torques
+
+    # End the current physics step with kPhysicsPeriod as roughly the total loop period
+    time.sleep(PHYSICS_PERIOD)
+
+
+def main():
+    # Program Setup
+    # ==============================================================================================
+    # Parse arguments
+    argparser = argparse.ArgumentParser()
+    argparser.add_argument(
+        "robot_sn",
+        help="Serial number of the robot in Flexiv Elements Studio to connect. Remove any space, e.g. Rizon4s-123456",
+    )
+    args = argparser.parse_args()
+
+    # Create logger
+    logger = spdlog.ConsoleLogger("Example")
+
+    # Print description
+    logger.info(
+        ">>> Tutorial description <<<\nA simple example demonstrating how to use Flexiv Sim Plugin "
+        "in an external simulator.\n"
+    )
+
+    # Create user node
+    user_node = flexivsimplugin.UserNode(args.robot_sn)
+
+    # Wait for connected
+    while not user_node.connected():
+        logger.warn("Waiting for connection with Flexiv Elements Studio")
+        time.sleep(1)
+    logger.info("Connected with Flexiv Elements Studio, starting mocked physics loop")
+
+    # Run mocked physics loop
+    while user_node.connected():
+        step_physics(user_node, logger)
+
+
+if __name__ == "__main__":
+    main()
@@ -0,0 +1,86 @@
+/**
+ * @file data.hpp
+ * @brief Header file containing various constant expressions and data structures.
+ * @copyright Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved.
+ */
+
+#ifndef FLEXIV_SIM_PLUGIN_DATA_HPP_
+#define FLEXIV_SIM_PLUGIN_DATA_HPP_
+
+#include <array>
+#include <vector>
+#include <string>
+
+namespace flexiv {
+namespace sim_plugin {
+
+/** Number of simulated digital IO ports */
+constexpr size_t kIOPorts = 16;
+
+/** States data of a simulated robot in the external simulator */
+struct SimRobotStates
+{
+    /** @brief Customized constructor */
+    SimRobotStates(uint64_t _servo_cycle, const std::vector<float>& _q,
+        const std::vector<float>& _dq, const std::vector<float>& _wrist_force = {},
+        const std::vector<float>& _wrist_torque = {})
+    : servo_cycle(_servo_cycle)
+    , q(_q)
+    , dq(_dq)
+    , wrist_force(_wrist_force)
+    , wrist_torque(_wrist_torque)
+    {
+    }
+
+    /** @brief Default constructor */
+    SimRobotStates() = default;
+
+    /** Servo cycle incremented once per physics step of the external simulator */
+    uint64_t servo_cycle = 0;
+
+    /** Current joint positions of the simulated robot: \f$ q \in \mathbb{R}^{n \times 1} \f$. Unit:
+     * \f$ [rad] or [m] \f$.
+     * @note This contains values for both the external axes (if any) and the robot manipulator. */
+    std::vector<float> q = {};
+
+    /** Current joint velocities of the simulated robot: \f$ \dot{q} \in \mathbb{R}^{n \times 1}
+     * \f$. Unit: \f$ [rad/s] or [m/s] \f$.
+     * @note This contains values for both the external axes (if any) and the robot manipulator. */
+    std::vector<float> dq = {};
+
+    /** Current wrist force sensor reading of the simulated robot: \f$ [f_x, f_y, f_z] \f$. Unit: \f$
+     * [N] \f$. */
+    std::vector<float> wrist_force = {};
+
+    /** Current wrist torque sensor reading of the simulated robot: \f$ [m_x, m_y, m_z] \f$. Unit:
+     * \f$ [Nm] \f$. */
+    std::vector<float> wrist_torque = {};
+};
+
+/** Commands data for a simulated robot in the external simulator */
+struct SimRobotCommands
+{
+    /** @brief Customized constructor */
+    SimRobotCommands(const std::vector<float>& _target_drives,
+        const std::array<bool, kIOPorts>& _digital_outputs)
+    : target_drives(_target_drives)
+    , digital_outputs(_digital_outputs)
+    {
+    }
+    /** @brief Default constructor */
+    SimRobotCommands() = default;
+
+    /** Target joint drives for the simulated robot, can be torques or velocities depending on the
+     * drive type of the joint. Unit: \f$ [Nm] or [rad/s] or [m/s] \f$.
+     * @note This contains values for both the external axes (if any) and the robot manipulator. */
+    std::vector<float> target_drives = {};
+
+    /** Desired digital outputs for the simulated robot. The index of this boolean array corresponds
+     * to that of the digital output ports. True: port high, false: port low. */
+    std::array<bool, kIOPorts> digital_outputs = {};
+};
+
+} /* namespace sim_plugin */
+} /* namespace flexiv */
+
+#endif /* FLEXIV_SIM_PLUGIN_DATA_HPP_ */
@@ -0,0 +1,68 @@
+/**
+ * @file user_node.hpp
+ * @copyright Copyright (C) 2016-2025 Flexiv Ltd. All Rights Reserved.
+ */
+
+#ifndef FLEXIV_SIM_PLUGIN_USER_NODE_HPP_
+#define FLEXIV_SIM_PLUGIN_USER_NODE_HPP_
+
+#include "data.hpp"
+#include <memory>
+
+namespace flexiv {
+namespace sim_plugin {
+
+/**
+ * @class UserNode
+ * @brief A communication node for an external simulator to publish robot states to and receive
+ * robot commands from Flexiv Elements Studio.
+ */
+class UserNode final
+{
+public:
+    /**
+     * @brief Create the node.
+     * @param[in] robot_sn Serial number of the simulated robot created in Flexiv Elements Studio.
+     * The accepted formats are: "Rizon 4-123456" and "Rizon4-123456".
+     * @param[in] debug_print Print debug info.
+     */
+    UserNode(const std::string& robot_sn, bool debug_print = false);
+    virtual ~UserNode();
+
+    /**
+     * @brief Whether this node is connected with Flexiv Elements Studio.
+     */
+    bool connected() const;
+
+    /**
+     * @brief Send robot states data to Flexiv Elements Studio.
+     * @param[in] robot_states States data of the simulated robot in the external simulator.
+     * @return True: data sent successfully; false: failed to send data.
+     */
+    bool SendRobotStates(const SimRobotStates& robot_states);
+
+    /**
+     * @brief Blocks until the next data packet of robot commands from Flexiv Elements Studio is
+     * received or timeout.
+     * @param[in] timeout_ms Maximum wait time before this function returns. Must set a value to
+     * avoid deadlock. Unit: [ms].
+     * @return True: packet received before timeout; false: packet not received before timeout.
+     */
+    bool WaitForRobotCommands(unsigned int timeout_ms);
+
+    /**
+     * @brief Current commands data to apply to the simulated robot in the external simulator.
+     * @return Value copy of SimRobotCommands struct.
+     * @warning Call this function after WaitForRobotCommands() to get the latest data.
+     */
+    SimRobotCommands robot_commands() const;
+
+private:
+    class Impl;
+    std::unique_ptr<Impl> pimpl_;
+};
+
+} /* namespace sim_plugin */
+} /* namespace flexiv */
+
+#endif /* FLEXIV_SIM_PLUGIN_USER_NODE_HPP_ */
@@ -0,0 +1,5 @@
+/**
+ * @file dummy.cpp
+ * @brief A dummy source file to add portability to the installed flexiv_rdk library
+ */
+void dummy() { }
@@ -0,0 +1 @@
+d95da285eac19eac1d64e5e953a2690f26f4791b9c03d5a9896569717fae6fc0
@@ -0,0 +1,49 @@
+#!/bin/sh
+# This script builds from source and installs all dependencies of flexiv_sim_plugin.
+
+# Absolute path of this script
+SCRIPTPATH="$(dirname $(readlink -f $0))"
+set -e
+
+# Check script arguments
+if [ "$#" -lt 1 ]; then
+    echo "Error: invalid script argument"
+    echo "Required argument: [install_directory_path]"
+    echo "    install_directory_path: directory to install all dependencies, should be the same as the install directory of flexiv_sim_plugin"
+    echo "Optional argument: [num_parallel_jobs]"
+    echo "    num_parallel_jobs: number of parallel jobs used to build, use 4 if not specified"
+    exit
+fi
+
+# Get dependencies install directory from script argument, should be the same as the install directory of flexiv_sim_plugin
+INSTALL_DIR=$1
+echo "Dependencies will be installed to: $INSTALL_DIR"
+
+# Use specified number for parallel build jobs, otherwise use 4
+if [ -n "$2" ] ;then
+    export NUM_JOBS=$2
+else
+    export NUM_JOBS=4
+fi
+echo "Number of parallel build jobs: $NUM_JOBS"
+
+# Set shared cmake arguments
+SHARED_CMAKE_ARGS="-DCMAKE_BUILD_TYPE=Release \
+                   -DBUILD_SHARED_LIBS=OFF \
+                   -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+                   -DCMAKE_PREFIX_PATH=$INSTALL_DIR \
+                   -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR \
+                   -DBUILD_TESTING=OFF"
+
+# Clone all dependencies in a subfolder
+mkdir -p cloned && cd cloned
+export SHARED_CMAKE_ARGS
+
+# Build and install all dependencies to INSTALL_DIR
+bash $SCRIPTPATH/scripts/install_spdlog.sh
+bash $SCRIPTPATH/scripts/install_tinyxml2.sh
+bash $SCRIPTPATH/scripts/install_foonathan_memory.sh
+bash $SCRIPTPATH/scripts/install_Fast-CDR.sh
+bash $SCRIPTPATH/scripts/install_Fast-DDS.sh
+
+echo ">>>>>>>>>> Finished <<<<<<<<<<"
@@ -0,0 +1,24 @@
+#!/bin/bash
+set -e
+echo "Installing Fast-CDR"
+
+# Use a specific version
+VER_TAG=v1.0.28
+
+# Clone source code
+if [ ! -d Fast-CDR ] ; then
+  git clone https://github.com/eProsima/Fast-CDR.git --branch $VER_TAG
+  cd Fast-CDR
+else
+  cd Fast-CDR
+  git checkout $VER_TAG
+fi
+
+# Configure CMake
+mkdir -p build && cd build
+cmake .. $SHARED_CMAKE_ARGS -DCOMPILE_EXAMPLES=OFF
+
+# Build and install
+cmake --build . --target install --config Release -j $NUM_JOBS
+
+echo "Installed Fast-CDR"
@@ -0,0 +1,31 @@
+#!/bin/bash
+# Depends on: foonathan_memory, tinyxml2, Fast-CDR
+set -e
+echo "Installing Fast-DDS"
+
+# Use a specific version
+VER_TAG=v2.6.10
+
+# Clone source code
+if [ ! -d Fast-DDS ] ; then
+  git clone https://github.com/eProsima/Fast-DDS.git --branch $VER_TAG
+  cd Fast-DDS
+else
+  cd Fast-DDS
+  git checkout $VER_TAG
+fi
+
+# Initialize submodules
+git submodule update --init --recursive
+
+# Configure CMake
+mkdir -p build && cd build
+cmake .. $SHARED_CMAKE_ARGS \
+         -DTHIRDPARTY_Asio=ON \
+         -DCOMPILE_EXAMPLES=OFF \
+         -DSQLITE3_SUPPORT=OFF
+
+# Build and install
+cmake --build . --target install --config Release -j $NUM_JOBS
+
+echo "Installed Fast-DDS"
@@ -0,0 +1,24 @@
+#!/bin/bash
+set -e
+echo "Installing foonathan_memory"
+
+# Use a specific version
+VER_TAG=v1.3.1
+
+# Clone source code
+if [ ! -d foonathan_memory_vendor ] ; then
+  git clone https://github.com/eProsima/foonathan_memory_vendor.git --branch $VER_TAG
+  cd foonathan_memory_vendor
+else
+  cd foonathan_memory_vendor
+  git checkout $VER_TAG
+fi
+
+# Configure CMake
+mkdir -p build && cd build
+cmake .. $SHARED_CMAKE_ARGS
+
+# Build and install
+cmake --build . --target install --config Release -j $NUM_JOBS
+
+echo "Installed foonathan_memory"
@@ -0,0 +1,25 @@
+#!/bin/bash
+set -e
+
+# Use a specific version
+VER_TAG=v1.14.1
+
+# Clone source code
+if [ ! -d spdlog ] ; then
+  git clone https://github.com/gabime/spdlog.git --branch $VER_TAG
+  cd spdlog
+else
+  cd spdlog
+  git checkout $VER_TAG
+fi
+
+# Configure CMake
+mkdir -p build && cd build
+cmake .. $SHARED_CMAKE_ARGS \
+         -DSPDLOG_BUILD_EXAMPLE=OFF \
+         -DSPDLOG_BUILD_TESTS=OFF
+
+# Build and install
+cmake --build . --target install --config Release -j $NUM_JOBS
+
+echo "Installed spdlog"
@@ -0,0 +1,24 @@
+#!/bin/bash
+set -e
+echo "Installing tinyxml2"
+
+# Use a specific version
+VER_TAG=8.0.0
+
+# Clone source code
+if [ ! -d tinyxml2 ] ; then
+  git clone https://github.com/leethomason/tinyxml2.git --branch $VER_TAG
+  cd tinyxml2
+else
+  cd tinyxml2
+  git checkout $VER_TAG
+fi
+
+# Configure CMake
+mkdir -p build && cd build
+cmake .. $SHARED_CMAKE_ARGS
+
+# Build and install
+cmake --build . --target install --config Release -j $NUM_JOBS
+
+echo "Installed tinyxml2"
				`@@ -0,0 +1 @@`
				`d95da285eac19eac1d64e5e953a2690f26f4791b9c03d5a9896569717fae6fc0`