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 teleop type | Supported local devices | Supported remote devices |
---|---|---|
robot-robot | Rizon4s | Rizon4s |
Supported OS | Supported processor | Supported language | Required compiler kit |
---|---|---|---|
Linux (Ubuntu 20.04/22.04) | x86_64 | C++ | build-essential |
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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
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Choose a directory for installing
flexiv_tdk
library and all its dependencies. For example, a new folder namedtdk_install
under the home directory. -
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
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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 byCMAKE_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. -
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.
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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 byCMAKE_INSTALL_PREFIX
tells user project's CMake where to find the installedflexiv_tdk
library.
-
Apply for license to run tdk. See apply_for_license.md
-
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 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.