Release v0.6 · flexivrobotics/flexiv_rdk

COMPATIBILITY

Add ROS2 support, see flexiv_ros2.
Add C++ and Python support for macOS.
Add Python support for Windows.
Add new parameter forceLimit to Gripper::move() to specify max gripping force.
Add Robot::isBusy() to check if the robot is currently executing a task.
Add Robot::isEstopReleased() to check if E-stop is released.
Add check on the size of input string of Robot::executePrimitive(), cannot exceed 5kb.
Add Robot::setGlobalVariables() and Robot::getGlobalVariables() to interact with the robot system's global variables.
Add flexiv::utility namespace with useful helper functions.
Add Visualization::updateScene() function overloading to update the color of a specified object in the scene.

Change the C++ interface to a unified modern CMake project that can be installed and linked to as a CMake target package on all supported OS.
Remove Windows Visual Studio project and solution file, replaced by the unified CMake framework.
Remove m_ prefix for struct members in StatesData.hpp.
Remove Robot::isTimeout(), connection quality is auto-handled.
Remove Robot::getSystemStatus(), also remove SystemStatus data struct, the members are either outdated or handled by dedicated API methods.
Change input parameters of Robot::streamTcpPose(): remove target velocity and acceleration to guarantee a passive impedance behavior; add optional parameter maxWrench to specify maximum contact wrench during operation.
Change input parameter maxWrench of Robot::sendTcpPose() to optional.
Change the output parameter of Robot::getRobotStates() and Robot::getPlanInfo () from pass by pointer to pass by reference.
Increase the maximum size of input string of Robot::executePrimitive() from 1kb to 5kb.
Re-organize C++ and Python libraries, add system and processor identifiers.
Rename spec folder to resources.
Improve API docs.
Improve examples.
Update README with compilation quick start for all supported OS.