Flexiv RDK APIs
0.10
|
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.
Flexiv RDK Home Page is the main reference. It contains important information including user manual and API documentation.
Supported OS | Supported processor | Supported language | Required compiler kit |
---|---|---|---|
Linux (Ubuntu 20.04/22.04) | x86_64, arm64 | C++, Python | build-essential |
macOS 12 (Monterey) | arm64 | C++, Python | Xcode Command Line Tools |
Windows 10 | x86_64 | C++, Python | MSVC 14.0+ |
NOTE: the full documentation is in Flexiv RDK Manual.
The C++ interface of Flexiv RDK is packed into a unified modern CMake library named flexiv_rdk
, which can be configured via CMake on all supported OS.
NOTE: if you will only be using Python RDK, you can skip this section and jump to Python RDK.
sudo apt install build-essential git cmake cmake-qt-gui -y
flexiv_rdk
library and all its dependencies. For example, a new folder named rdk_install
under the home directory.flexiv_rdk
: cd flexiv_rdk mkdir build && cd build cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_installNOTE:
-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.flexiv_rdk
library: cd flexiv_rdk/build cmake --build . --target install --config ReleaseNOTE: the installation of
flexiv_rdk
library is complete now. The following steps show how to link to the installed library from a user project.flexiv_rdk
library from a user project, using the provided example project for instance: cd flexiv_rdk/example mkdir build && cd build cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install cmake --build . --config Release -j 4NOTE:
-D
followed by CMAKE_INSTALL_PREFIX
tells user project's CMake where to find the installed flexiv_rdk
library../<program_name> [robot_ip] [local_ip] [...]Note:
sudo
is not required unless prompted by the program saying "root privilege is required".xcode-select
command to invoke the installation of Xcode Command Line Tools, then follow the prompted window to finish the installation.cmake-3.x.x-macos-universal.dmg
from CMake download page and install the dmg file. The minimum required version is 3.16.3.cmake
and cmake-gui
command for use in Terminal.cmake-3.x.x-windows-x86_64.msi
from CMake download page and install the msi file. The minimum required version is 3.16.3. Add CMake to system PATH when prompted, so that cmake
and cmake-gui
command can be used from Command Prompt or a bash emulator.Python 3.8 and 3.10 are supported by RDK, see Flexiv RDK Manual for more details. A brief instruction is provided below and applies to all supported OS.
python3 --version
cd flexiv_rdk/example_py python3 <program_name>.py [robot_ip] [local_ip] [...]