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Release/v1.5.1 (#86)
Release note: https://github.com/flexivrobotics/flexiv_rdk/releases/tag/v1.5.1
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‎.github/workflows/cmake.yml‎

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on:
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push:
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branches: [main, v1.x]
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branches: [main, v0.x]
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pull_request:
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branches: [main, v1.x]
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branches: [main, v0.x]
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workflow_dispatch:
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env:
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jobs:
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build-ubuntu-22:
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# Use GitHub-hosted Ubuntu 22.04 runner
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# GitHub-hosted Ubuntu 22.04 runner
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runs-on: ubuntu-22.04
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# Use shared steps
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steps:
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- uses: actions/checkout@v2
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- name: Build and install dependencies
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# Build and install all dependencies to RDK installation directory.
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run: |
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cd ${{github.workspace}}
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cd thirdparty
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bash build_and_install_dependencies.sh ~/rdk_install $(nproc)
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- name: Build and install library
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# Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
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run: |
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cd ${{github.workspace}}
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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make install
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- name: Build examples
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# Find and link to the flexiv_rdk INTERFACE library, then build all examples.
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run: |
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cd ${{github.workspace}}/example
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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make -j$(nproc)
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- name: Build tests
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# Find and link to the flexiv_rdk INTERFACE library, then build all tests.
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run: |
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cd ${{github.workspace}}/test
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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make -j$(nproc)
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- uses: actions/checkout@v3
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- uses: ./.github/workflows/shared_steps
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build-ubuntu-20:
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# Use GitHub-hosted Ubuntu 20.04 runner
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# GitHub-hosted Ubuntu 20.04 runner
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runs-on: ubuntu-20.04
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# Use shared steps
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steps:
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- uses: actions/checkout@v2
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- name: Build and install dependencies
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# Build and install all dependencies to RDK installation directory.
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run: |
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cd ${{github.workspace}}
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cd thirdparty
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bash build_and_install_dependencies.sh ~/rdk_install $(nproc)
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- name: Build and install library
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# Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
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run: |
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cd ${{github.workspace}}
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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make install
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- name: Build examples
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# Find and link to the flexiv_rdk INTERFACE library, then build all examples.
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run: |
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cd ${{github.workspace}}/example
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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make -j$(nproc)
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- name: Build tests
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# Find and link to the flexiv_rdk INTERFACE library, then build all tests.
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run: |
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cd ${{github.workspace}}/test
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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make -j$(nproc)
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build-macos-12:
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# Use self-hosted macOS 12 runner with arm64 processor
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runs-on: [self-hosted, macos-12, ARM64]
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- uses: actions/checkout@v3
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- uses: ./.github/workflows/shared_steps
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build-macos-14:
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# GitHub-hosted macOS 14 runner with M1 chip
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runs-on: macos-14
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# Use shared steps
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steps:
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- uses: actions/checkout@v2
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- name: Build and install dependencies
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# Build and install all dependencies to RDK installation directory.
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run: |
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cd ${{github.workspace}}
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cd thirdparty
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bash build_and_install_dependencies.sh ~/rdk_install $(sysctl -n hw.ncpu)
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- name: Build and install library
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# Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
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run: |
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cd ${{github.workspace}}
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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make install
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- name: Build examples
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# Find and link to the flexiv_rdk INTERFACE library, then build all examples.
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run: |
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cd ${{github.workspace}}/example
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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make -j$(sysctl -n hw.ncpu)
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- name: Build tests
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# Find and link to the flexiv_rdk INTERFACE library, then build all tests.
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run: |
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cd ${{github.workspace}}/test
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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make -j$(sysctl -n hw.ncpu)
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- uses: actions/checkout@v3
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- uses: ./.github/workflows/shared_steps
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build-windows-2022:
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# Use GitHub-hosted Windows 2022 runner
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# GitHub-hosted Windows 2022 runner
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runs-on: windows-2022
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# Use shared steps
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steps:
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- uses: actions/checkout@v2
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- name: Build and install dependencies
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# Build and install all dependencies to RDK installation directory.
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run: |
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cd ${{github.workspace}}
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cd thirdparty
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bash build_and_install_dependencies.sh ~/rdk_install $(nproc)
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- name: Build and install library
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# Configure CMake, then build and install the flexiv_rdk INTERFACE library to RDK installation directory.
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run: |
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cd ${{github.workspace}}
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mkdir build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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cmake --build . --target install --config Release
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- name: Build examples
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# Find and link to the flexiv_rdk INTERFACE library, then build all examples.
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run: |
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cd ${{github.workspace}}/example
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mkdir build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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cmake --build . --config Release -j $(nproc)
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- name: Build tests
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# Find and link to the flexiv_rdk INTERFACE library, then build all tests.
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run: |
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cd ${{github.workspace}}/test
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mkdir build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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cmake --build . --config Release -j $(nproc)
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- uses: actions/checkout@v3
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- uses: ./.github/workflows/shared_steps

‎.github/workflows/shared_steps/action.yml‎

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name: "Shared Build Steps"
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runs:
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using: "composite"
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# Note: working directory will be reset to the repo root for each new step
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steps:
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# Build and install all dependencies to RDK installation directory.
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- name: Build and install dependencies
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shell: bash
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run: |
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pwd
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cd thirdparty
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bash build_and_install_dependencies.sh ~/rdk_install 4
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# Configure CMake, then build and install flexiv_rdk library to RDK installation directory.
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- name: Build and install library
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shell: bash
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run: |
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pwd
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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cmake --build . --target install --config Release
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# Find and link to flexiv_rdk library, then build all example programs.
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- name: Build examples
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shell: bash
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run: |
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pwd
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cd example
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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cmake --build . --config Release -j 4
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# Find and link to flexiv_rdk library, then build all test programs.
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- name: Build tests
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shell: bash
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run: |
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pwd
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cd test
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mkdir -p build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install
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cmake --build . --config Release -j 4

‎CMakeLists.txt‎

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# ===================================================================
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# PROJECT SETUP
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# ===================================================================
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project(flexiv_rdk VERSION 1.5.0)
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project(flexiv_rdk VERSION 1.5.1)
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# Configure build type
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if(NOT CMAKE_BUILD_TYPE)
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message(STATUS "Found spdlog: ${spdlog_DIR}")
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endif()
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# Fast-CDR
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find_package(fastcdr 1.0.24 REQUIRED)
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if(fastcdr_FOUND)
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message(STATUS "Found fastcdr: ${fastcdr_DIR}")
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endif()
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# Fast-DDS (Fast-RTPS)
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find_package(fastrtps 2.6.7 REQUIRED)
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if(fastrtps_FOUND)
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Eigen3::Eigen
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spdlog::spdlog
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fastrtps
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fastcdr
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)
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# Use moderate compiler warning option

‎README.md‎

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## Compatibility Overview
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| **Supported OS** | **Supported processor** | **Supported language** | **Required compiler kit** |
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| -------------------------- | ----------------------- | ---------------------- | ------------------------- |
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| Linux (Ubuntu 20.04/22.04) | x86_64, arm64 | C++, Python | build-essential |
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| macOS 12 and above | arm64 | C++, Python | Xcode Command Line Tools |
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| Windows 10/11 | x86_64 | C++, Python | MSVC v14.2+ |
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| **Supported OS** | **Supported processor** | **Supported language** | **Required compiler kit** |
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| ------------------------------ | ----------------------- | ---------------------- | ------------------------- |
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| Linux (Ubuntu 20.04 and above) | x86_64, arm64 | C++, Python | build-essential |
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| macOS 12 and above | arm64 | C++, Python | Xcode Command Line Tools |
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| Windows 10 and above | x86_64 | C++, Python | MSVC v14.2+ |
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## Quick Start
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The **C++ and Python** RDK libraries are packed into a unified modern CMake project named ``flexiv_rdk``, which can be configured and installed via CMake on all supported OS.
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The **C++ and Python** RDK libraries are packed into a unified modern CMake project named ``flexiv_rdk``, which can be configured and installed using CMake on all supported OS.
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### Note
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cd flexiv_rdk/thirdparty
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bash build_and_install_dependencies.sh ~/rdk_install
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4. In a new Terminal, use CMake to configure the ``flexiv_rdk`` project:
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NOTE: Internet connection is required for this step.
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4. In a new Terminal, configure ``flexiv_rdk`` library as a CMake project:
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cd flexiv_rdk
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mkdir build && cd build
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cmake .. -DCMAKE_INSTALL_PREFIX=~/rdk_install -DINSTALL_PYTHON_RDK=ON
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NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` sets the CMake variable that specifies the path of the installation directory. ``-D`` followed by ``INSTALL_PYTHON_RDK=ON`` enables the installation of Python RDK besides C++ RDK. The configuration process can also be done using CMake GUI.
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NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` sets the CMake variable that specifies the path of the installation directory. ``-D`` followed by ``INSTALL_PYTHON_RDK=ON`` enables the installation of the Python library alongside the C++ library. Alternatively, this configuration step can be done using CMake GUI.
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5. Install C++ and Python RDK:
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5. Install ``flexiv_rdk`` libraries (C++ and Python):
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cd flexiv_rdk/build
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cmake --build . --target install --config Release
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C++ RDK is installed to the path specified by ``CMAKE_INSTALL_PREFIX``, which may or may not be globally discoverable by CMake. Python RDK is installed to the user site packages path, which is globally discoverable by Python interpreter.
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The C++ library will be installed to ``CMAKE_INSTALL_PREFIX`` path, which may or may not be globally discoverable by CMake. The Python library is installed to the user site packages path, which is globally discoverable by the Python interpreter.
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### Install on macOS
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3. Install bash emulator: Download and install [Git for Windows](https://git-scm.com/download/win/), which comes with a bash emulator Git Bash.
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4. Within the bash emulator, the rest are identical to steps 2 and below in [Install on Linux](#install-on-linux).
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### Link to C++ RDK from a user program
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### Link to installed library from a user program
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After C++ RDK is installed, it can be found as a CMake library and linked to by other CMake projects. Use the provided examples project for instance::
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After the C++ RDK library is installed, it can be found as a CMake target and linked to from other CMake projects. Using the provided examples project for instance::
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cd flexiv_rdk/example
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‎cmake/flexiv_rdk-config.cmake.in‎

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find_dependency(Eigen3 REQUIRED)
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find_dependency(spdlog REQUIRED)
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find_dependency(fastrtps 2.6.7 REQUIRED)
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find_dependency(fastcdr 1.0.24 REQUIRED)
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# Add targets file
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include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")

‎doc/Doxyfile.in‎

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# could be handy for archiving the generated documentation or if some version
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# control system is used.
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PROJECT_NUMBER = 1.5
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PROJECT_NUMBER = 1.5.1
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# Using the PROJECT_BRIEF tag one can provide an optional one line description
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# for a project that appears at the top of each page and should give viewer a

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