arm_dev
f882c4309c
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>
214 lines
9.4 KiB
Markdown
214 lines
9.4 KiB
Markdown
# Flexiv RDK
|
|
|
|
|
|
|
|
[](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://www.flexiv.com/software/rdk) is the main reference. It contains important information including user manual and API documentation. The instructions below serve as a quick reference, and you can find the full documentation at [Flexiv RDK Manual](https://www.flexiv.com/software/rdk/manual).
|
|
|
|
## LLM Guidance
|
|
|
|
For AI-assisted code generation in this repository, see [llms.txt](llms.txt).
|
|
|
|
## Environment Compatibility
|
|
|
|
| **OS** | **Platform** | **C++ compiler kit** | **Python interpreter** |
|
|
| --------------------- | --------------- | -------------------- | ---------------------- |
|
|
| Linux (Ubuntu 22.04+) | x86_64, aarch64 | GCC v11.4+ | 3.10, 3.12, 3.14 |
|
|
| macOS 12+ | arm64 | Clang v14.0+ | 3.10, 3.12 |
|
|
| Windows 10+ | x86_64 | MSVC v14.2+ | 3.10, 3.12 |
|
|
| QNX 8.0.3+ | x86_64, aarch64 | QCC v12.2+ | Not supported |
|
|
|
|
## Important Notice
|
|
|
|
Before trying to run any RDK program, please make sure to carefully go through the [First Time Setup](https://www.flexiv.com/software/rdk/manual/index.html#first-time-setup) chapter in RDK Manual. Otherwise, you might run into blocking issues.
|
|
|
|
## Quick Start - Python
|
|
|
|
### Install the Python package
|
|
|
|
On all supported platforms, the Python package of RDK and its dependencies for a specific Python version can be installed using the `pip` module:
|
|
|
|
python3.x -m pip install numpy spdlog flexivrdk
|
|
|
|
> [!NOTE]
|
|
> Replace `3.x` with a specific Python version.
|
|
|
|
### Use the installed Python package
|
|
|
|
After the `flexivrdk` 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 RDK:
|
|
|
|
python3.x
|
|
import flexivrdk
|
|
robot = flexivrdk.Robot("Enlight-L-123456")
|
|
|
|
The program will start searching for a robot with serial number `Enlight-L-123456`, and will exit after a couple of seconds if the specified robot is not found in the local network.
|
|
|
|
### Run example Python scripts
|
|
|
|
To run an example Python script in this repo:
|
|
|
|
cd flexiv_rdk/example_py
|
|
python3.x <example-name>.py <robot-sn>
|
|
|
|
For example:
|
|
|
|
python3.10 ./basics1_display_robot_states.py Enlight-L-123456
|
|
|
|
## 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
|
|
|
|
#### macOS
|
|
|
|
1. Install compiler kit using `xcode` tool:
|
|
|
|
xcode-select
|
|
|
|
This will invoke the installation of Xcode Command Line Tools, then follow the prompted window to finish the installation.
|
|
|
|
2. Install CMake using package manager:
|
|
|
|
brew install cmake
|
|
|
|
#### Windows
|
|
|
|
1. Install compiler kit: Download and install Microsoft Visual Studio 2019 (MSVC v14.2) or above. Choose "Desktop development with C++" under the *Workloads* tab during installation. You only need to keep the following components for the selected workload:
|
|
* MSVC ... C++ x64/x86 build tools (Latest)
|
|
* C++ CMake tools for Windows
|
|
* Windows 10 SDK or Windows 11 SDK, depending on your actual Windows version
|
|
2. Install CMake: 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 3.22.1. **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 bash emulator: Download and install [Git for Windows](https://git-scm.com/install/windows), which comes with a bash emulator Git Bash. The following steps are to be carried out in this bash emulator.
|
|
|
|
#### QNX
|
|
|
|
1. Prepare a host computer with Ubuntu 22.04 or higher.
|
|
2. Download and install [QNX SDP 8.0.3](https://blackberry.qnx.com/en/products/foundation-software/qnx-software-development-platform) to the host computer. You'll need a trial or commercial license.
|
|
3. Install CMake on the host computer using package manager:
|
|
|
|
sudo apt install cmake
|
|
|
|
### Install the C++ library
|
|
|
|
The following steps are mostly the same on all supported platforms, with some variations.
|
|
|
|
1. Choose a directory for installing the C++ library of RDK and its dependencies. This directory can be under system path or not, depending on whether you want RDK to be globally discoverable by CMake. For example, a new folder named `rdk_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_rdk/thirdparty
|
|
|
|
On non-QNX:
|
|
|
|
bash build_and_install_dependencies.sh ~/rdk_install
|
|
|
|
On QNX:
|
|
|
|
source <qnx-sdp-dir>/qnxsdp-env.sh
|
|
bash build_and_install_dependencies.sh ~/rdk_install $(nproc) <path-to-qnx-toolchain-file>
|
|
|
|
> [!NOTE]
|
|
> The QNX toolchain files are located under `flexiv_rdk/cmake` directory, with one for x86_64 target and one for aarch64 target.
|
|
|
|
3. In the same Terminal, configure the `flexiv_rdk` CMake project:
|
|
|
|
cd flexiv_rdk
|
|
mkdir build && cd build
|
|
|
|
On non-QNX:
|
|
|
|
cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
|
|
|
|
On QNX:
|
|
|
|
cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install -DCMAKE_TOOLCHAIN_FILE=<path-to-qnx-toolchain-file>
|
|
|
|
> [!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_rdk` C++ library to `CMAKE_INSTALL_PREFIX` path, which may or may not be globally discoverable by CMake depending on the location:
|
|
|
|
cd flexiv_rdk/build
|
|
cmake --build . --target install --config Release
|
|
|
|
### Use the installed C++ library
|
|
|
|
After the library is installed as `flexiv_rdk` CMake target, it can be linked from any other CMake projects. Using the provided `flexiv_rdk-examples` project for instance:
|
|
|
|
cd flexiv_rdk/example
|
|
mkdir build && cd build
|
|
|
|
On non-QNX:
|
|
|
|
cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install
|
|
cmake --build . --config Release -j 4
|
|
|
|
On QNX:
|
|
|
|
cmake .. -DCMAKE_PREFIX_PATH=~/rdk_install -DCMAKE_TOOLCHAIN_FILE=<path-to-qnx-toolchain-file>
|
|
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 RDK library and its dependencies are installed to a globally discoverable location.
|
|
|
|
### Run example C++ programs
|
|
|
|
The steps to run an example C++ program compiled during the previous step vary by OS.
|
|
|
|
> [!NOTE]
|
|
> - Replace `<example-name>` with the actual example program to be executed.
|
|
> - Replace `<robot-sn>` with the actual serial number of the robot, for example `Enlight-L-123456`.
|
|
> - Root privilege is required if the real-time scheduler API `flexiv::rdk::Scheduler` is used in the program.
|
|
|
|
#### Linux and macOS
|
|
|
|
On UNIX systems, the install location of the dependencies' shared libraries is baked into the executable as an RPATH, so they are found automatically at runtime with no extra setup:
|
|
|
|
cd flexiv_rdk/example/build
|
|
./<example-name> <robot-sn>
|
|
|
|
#### Windows - Command Prompt
|
|
|
|
Windows does not support RPATH, so the install location of the dependencies' shared libraries must be explicitly specified by adding the `bin` folder under the installation directory to `PATH` for the current session, before executing the example programs:
|
|
|
|
cd flexiv_rdk\example\build
|
|
set PATH=%USERPROFILE%\rdk_install\bin;%PATH%
|
|
Release\<example-name>.exe <robot-sn>
|
|
|
|
Alternatively, add the `bin` folder to the system or user `PATH` environment variable to make this change permanent instead of per-session.
|
|
|
|
> [!WARNING]
|
|
> If the `bin` folder is not on `PATH`, the program will exit immediately with no error message on Command Prompt, because Windows terminates the process with exit code `0xC0000135` (`STATUS_DLL_NOT_FOUND`) before any output is produced. Run `echo %ERRORLEVEL%` right after to confirm this is the cause (it prints `-1073741515` on failure, `0` on success).
|
|
|
|
#### Windows - bash emulator (such as Git Bash)
|
|
|
|
The same rule applies in a bash emulator, but using bash syntax to set `PATH` for the current session (note the use of `/` as path separator and `:` to delimit entries):
|
|
|
|
cd flexiv_rdk/example/build
|
|
export PATH="$USERPROFILE/rdk_install/bin:$PATH"
|
|
./Release/<example-name>.exe <robot-sn>
|
|
|
|
## API Documentation
|
|
|
|
The complete and detailed API documentation of the **latest release** can be found at [Flexiv RDK APIs](https://www.flexiv.com/software/rdk/api). The API documentation of a previous release can be generated manually using Doxygen. For example, on Linux:
|
|
|
|
sudo apt install doxygen-latex graphviz
|
|
cd flexiv_rdk
|
|
git checkout <previous_release_tag>
|
|
doxygen doc/Doxyfile.in
|
|
|
|
Open any html file under `flexiv_rdk/doc/html/` with your browser to view the doc.
|