Flexiv TDK

Flexiv TDK (Teleoperation Development Kit) is an SDK provides C++ APIs for developing complex and customized applications involving robot-robot or device-robot teleoperation. The supported devices are listed below.

Supported devices

Supported teleop type	Supported local devices	Supported remote devices
robot-robot	Rizon4s	Rizon4s

Compatibility

Supported OS	Supported processor	Supported language	Required compiler kit
Linux (Ubuntu 20.04/22.04)	x86_64	C++	build-essential

Install on Linux

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

   sudo apt install build-essential libssl-dev net-tools git cmake cmake-qt-gui -y
   

2. Choose a directory for installing flexiv_tdk library and all its dependencies. For example, a new folder named tdk_install under the home directory.

3. Please ensure that your network connection is unobstructed. Then, in a new Terminal, run the provided script to compile and install all dependencies to the installation directory chosen in step 2:

   cd flexiv_tdk/thirdparty
   bash build_and_install_dependencies.sh ~/tdk_install
   

4. In a new Terminal, use CMake to configure flexiv_tdk:

   cd flexiv_tdk
   mkdir build && cd build
   cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_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.

5. Install flexiv_tdk library:

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

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

Link to the installed library to a user project

1. To find and link to the installed flexiv_tdk library to a user project, using the provided example project for instance:

   cd flexiv_tdk/example
   mkdir build && cd build
   cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_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_tdk library.

Run tdk example

1. Apply for license to run tdk. See apply_for_license.md

2. Set all the robots to Auto/Remote Mode via Flexiv Elements, then to run the compiled example program:

   ./<program_name> [local_robot_serial_number] [remote_robot_serial_number] [path_to_licenseCfg.json]
   

API Documentation

API doc can be generated using doxygen

  sudo apt install doxygen-latex graphviz
  cd flexiv_tdk
  doxygen doc/Doxyfile.in

The generated API doc is under flexiv_tdk/doc/html . You can open any of the html file with your web browser to view it.