Flexiv TDK 1.1

COMPATIBILITY

• Flexiv software package v3.6

ADD

• Add spdlog for log info printing in terminal and file
• Add Engage() to engage/disengage the teleop
• Add SetWrenchFeedbackScalingFactor to amplify or reduce the wrench feedback

CHANGE

• Bump version to v1.1
• Change cmake_minimum_required version from 3.22.1 to 3.16.3
• Add Ubuntu20.04 compatibility support
• Rename repo name to flexiv_tdk
• Remove dependencies: Eigen, Fast-CDR, Fast-DDS, Boost-Filesystem, using dependency of flexiv_rdk instead.
• Change namespace from flexiv::omni::teleop to flexiv::tdk
• Rename Robot2RobotTeleop.hpp to robot_robot_teleop.hpp
• Rename TeleopDefs.hpp to data.hpp
• Use google style naming
• Change init() to Init()
• Change enable to Enable
• Change stop to Stop
• Change isFault to fault
• Change isOperational to operational
• Change clearFault to ClearFault
• Change step to Step
• Change setLocalNullSpacePosture to SetLocalNullSpacePosture
• Change setRemoteNullSpacePosture to SetRemoteNullSpacePosture
• Change setRemoteMaxWrench to SetMaxContactWrench
• Change setRepulsiveWrench to SetRepulsiveForce
• Change setLocalAxisLockCmd to SetLocalAxisLockCmd
• Change getLocalAxisLockState SetLocalAxisLockCmd
• Change AxisLockDefs to AxisLock
• Delete TeleopRobotInfo
• Delete getLocalInfo
• Delete getRemoteInfo

FIX

• (None)