Release/v1.1 (#4)

Release note: https://github.com/flexivrobotics/flexiv_tdk/releases/tag/v1.1
flexivrobotics · Aug 13, 2024 · f431f46 · f431f46
1 parent f5c1f43
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diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -23,32 +23,62 @@ jobs:
       - uses: actions/checkout@v2
 
       - name: Build and install dependencies
-        # Build and install all dependencies to flexiv_omni_teleop installation directory.
+        # Build and install all dependencies to flexiv_tdk installation directory.
         run: |
           cd ${{github.workspace}}
           cd thirdparty
           bash build_and_install_dependencies.sh ~/teleop_install
 
       - name: Build and install library
-        # Configure CMake, then build and install the flexiv_omni_teleop INTERFACE library to flexiv_omni_teleop installation directory.
+        # Configure CMake, then build and install the flexiv_tdk INTERFACE library to TDK installation directory.
         run: |
           cd ${{github.workspace}}
           mkdir -p build && cd build
           cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
           make install
 
       - name: Build examples
-        # Find and link to the flexiv_omni_teleop INTERFACE library, then build all examples.
+        # Find and link to the flexiv_tdk INTERFACE library, then build all examples.
         run: |
           cd ${{github.workspace}}/example
           mkdir -p build && cd build
           cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
           make -j$(nproc)
 
       # - name: Build tests
-      #   # Find and link to the flexiv_omni_teleop INTERFACE library, then build all tests.
+      #   # Find and link to the flexiv_tdk INTERFACE library, then build all tests.
       #   run: |
       #     cd ${{github.workspace}}/test
       #     mkdir -p build && cd build
       #     cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
       #     make -j$(nproc)
+
+  build-ubuntu-20:
+    # Use GitHub-hosted Ubuntu 20.04 runner
+    runs-on: ubuntu-20.04
+
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Build and install dependencies
+        # Build and install all dependencies to TDK installation directory.
+        run: |
+          cd ${{github.workspace}}
+          cd thirdparty
+          bash build_and_install_dependencies.sh ~/tdk_install $(nproc)
+
+      - name: Build and install library
+        # Configure CMake, then build and install the flexiv_tdk INTERFACE library to TDK installation directory.
+        run: |
+          cd ${{github.workspace}}
+          mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
+          make install
+
+      - name: Build examples
+        # Find and link to the flexiv_tdk INTERFACE library, then build all examples.
+        run: |
+          cd ${{github.workspace}}/example
+          mkdir -p build && cd build
+          cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
+          make -j$(nproc)
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 3.22.1)
+cmake_minimum_required(VERSION 3.16.3)
 
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_omni_teleop VERSION 1.0.0)
+project(flexiv_tdk VERSION 1.1.0)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
@@ -17,7 +17,7 @@ message("Processor: ${CMAKE_SYSTEM_PROCESSOR}")
 
 if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
   if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
-    set(TELEOP_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_omni_teleop.x86_64-linux-gnu.a")
+    set(TELEOP_STATIC_LIBRARY "${CMAKE_CURRENT_SOURCE_DIR}/lib/libflexiv_tdk.x86_64-linux-gnu.a")
   else()
     message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
@@ -36,43 +36,18 @@ list(APPEND CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX})
 # ===================================================================
 #      PROJECT DEPENDENCIES
 # ===================================================================
-# Threads
-set(THREADS_PREFER_PTHREAD_FLAG ON)
-find_package(Threads REQUIRED)
-if(Threads_FOUND)
-  message(STATUS "Found Threads: HAVE_PTHREAD = ${THREADS_HAVE_PTHREAD_ARG}")
-endif()
-
-# Eigen3
-find_package(Eigen3 REQUIRED)
-if(Eigen3_FOUND)
-  message(STATUS "Found Eigen3: ${Eigen3_DIR}")
-endif()
-
-# Fast-CDR
-find_package(fastcdr 1.0.24 REQUIRED)
-if(fastcdr_FOUND)
-  message(STATUS "Found fastcdr: ${fastcdr_DIR}")
-endif()
-
-# Fast-DDS (Fast-RTPS)
-find_package(fastrtps 2.6.2 REQUIRED)
-if(fastrtps_FOUND)
-  message(STATUS "Found fastrtps: ${fastrtps_DIR}")
-endif()
-
-# Boost-filesystem
-find_package(Boost 1.72.0 COMPONENTS filesystem REQUIRED)
-if(Boost_FOUND)
-  message(STATUS "Found Boost: ${Boost_DIR}")
-endif()
 
 # OpenSSL
 find_package(OpenSSL REQUIRED)
 if(OpenSSL_FOUND)
   message(STATUS "Found OpenSSL, version: ${OPENSSL_VERSION}, libraries: ${OPENSSL_LIBRARIES}")
 endif()
 
+# flexiv_rdk
+find_package(flexiv_rdk REQUIRED)
+if(flexiv_rdk_FOUND)
+  message(STATUS "Found flexiv_rdk: ${flexiv_rdk_DIR}")
+endif()
 
 # ===================================================================
 #      CREATE LIBRARY
@@ -82,7 +57,7 @@ add_library(${PROJECT_NAME} INTERFACE)
 
 # Create an alias of the library using flexiv namespace, 
 # to imitate the install target which uses flexiv namespace.
-add_library(flexiv::omni::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+add_library(flexiv::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_include_directories(${PROJECT_NAME} INTERFACE 
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -92,11 +67,7 @@ target_include_directories(${PROJECT_NAME} INTERFACE
 target_link_libraries(${PROJECT_NAME} INTERFACE
   ${TELEOP_STATIC_LIBRARY}
   ${OPENSSL_LIBRARIES}
-  Threads::Threads
-  Eigen3::Eigen
-  fastrtps
-  fastcdr
-  Boost::filesystem
+  flexiv::flexiv_rdk
 )
 
 # Use moderate compiler warning option 

diff --git a/README.md b/README.md
@@ -1,74 +1,75 @@
-# Flexiv Omni Teleop
+# Flexiv TDK
 
-![CMake Badge](https://github.com/flexivrobotics/flexiv_omni_teleop/actions/workflows/cmake.yml/badge.svg) ![Version](https://img.shields.io/badge/version-1.0-blue.svg) [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://www.apache.org/licenses/LICENSE-2.0.html)
+![CMake Badge](https://github.com/flexivrobotics/flexiv_tdk/actions/workflows/cmake.yml/badge.svg) ![Version](https://img.shields.io/badge/version-1.1-blue.svg) [![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://www.apache.org/licenses/LICENSE-2.0.html)
 
-The Flexiv Omni Teleop 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.
+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 devices
 
-| **Supported teleop type** | **Supported local machine** | **Supported remote machine** |
+| **Supported teleop type** | **Supported local devices** | **Supported remote devices** |
 | ------------------------- | --------------------------- | ---------------------------- |
 | robot-robot               | Rizon4s                     | Rizon4s                      |
 
 ## Compatibility
 
-| **Supported OS**     | **Supported processor** | **Supported language** | **Required compiler kit** |
-| -------------------- | ----------------------- | ---------------------- | ------------------------- |
-| Linux (Ubuntu 22.04) | x86_64                  | C++                    | build-essential           |
+| **Supported OS**           | **Supported processor** | **Supported language** | **Required compiler kit** |
+| -------------------------- | ----------------------- | ---------------------- | ------------------------- |
+| Linux (Ubuntu 20.04/22.04) | x86_64                  | C++                    | build-essential           |
 
-### Compile and install for Linux
+### Install on Linux
 
 1. 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
+       sudo apt install build-essential libssl-dev net-tools git cmake cmake-qt-gui -y
 
-2. Choose a directory for installing ``flexiv_omni_teleop`` library and all its dependencies. For example, a new folder named ``teleop_install`` under the home directory.
+2. Choose a directory for installing ``flexiv_tdk`` library and all its dependencies. For example, a new folder named ``tdk_install`` under the home directory.
 
 3. 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_omni_teleop/thirdparty
-      bash build_and_install_dependencies.sh ~/teleop_install
+       cd flexiv_tdk/thirdparty
+       bash build_and_install_dependencies.sh ~/tdk_install
 
-4. In a new Terminal, use CMake to configure `flexiv_omni_teleop`:
+4. In a new Terminal, use CMake to configure `flexiv_tdk`:
 
-      cd flexiv_omni_teleop
-      mkdir build && cd build
-      cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
+       cd flexiv_tdk
+       mkdir build && cd build
+       cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
 
    NOTE: ``-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.
 
-5. Compile and install `flexiv_omni_teleop` library:
+5. Install `flexiv_tdk` library:
 
-      cd flexiv_omni_teleop/build
-      cmake --build . --target install --config Release
+       cd flexiv_tdk/build
+       cmake --build . --target install --config Release
 
-   NOTE: the installation of `flexiv_omni_teleop` library is complete now. The following steps show how to link to the installed library from a user project.
+   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.
 
 ### Link to the installed library to a user project
 
-1. To find and link to the installed `flexiv_omni_teleop` library to a user project, using the provided example project for instance:
+1. To find and link to the installed `flexiv_tdk` library to a user project, using the provided example project for instance:
 
-      cd flexiv_omni_teleop/example
-      mkdir build && cd build
-      cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
-      cmake --build . --config Release -j 4
+       cd flexiv_tdk/example
+       mkdir build && cd build
+       cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
+       cmake --build . --config Release -j 4
 
-   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` tells user project's CMake where to find the installed `flexiv_omni_teleop` library.
+   NOTE: ``-D`` followed by ``CMAKE_INSTALL_PREFIX`` tells user project's CMake where to find the installed `flexiv_tdk` library.
 
-### Run Omni-Teleop
+### Run tdk example
 
-1. Apply for Omni license to run Omni-Teleop. See [Omni_license.md](omni_license_generator/Omni_license.md)
+1. Apply for license to run tdk. See [apply_for_license.md](./license_generator/apply_for_license.md)
 
-2. Set all the robots to `Auto/Remote Mode` via flexiv Elements, then to run the compiled example program:
+2. Set all the robots to `Auto/Remote Mode` via Flexiv Elements, then to run the compiled example program:
 
-      ./<program_name> [remote_robot_SN] [local_robot_SN] [path_to_omni_licenseCfg.json]
+       ./<program_name> [local_robot_serial_number] [remote_robot_serial_number] [path_to_omni_licenseCfg.json]
 
-### API Documentation
+
+## API Documentation
 
 API doc can be generated using doxygen
 
       sudo apt install doxygen-latex graphviz
-      cd flexiv_omni_teleop
-      doxygen doc/Doxygen.in
+      cd flexiv_tdk
+      doxygen doc/Doxyfile.in
 
-The generated API doc is under ```flexiv_omni_teleop/doc/html ```. You can open any of the html file with your web browser to view it.
+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.
diff --git a/cmake/FlexivInstallLibrary.cmake b/cmake/FlexivInstallLibrary.cmake
@@ -64,14 +64,14 @@ macro(FlexivInstallLibrary)
     include(CMakePackageConfigHelpers)
     write_basic_package_version_file(
         "${PROJECT_NAME}-config-version.cmake"
-        VERSION ${PACKAGE_VERSION}
+        VERSION ${PROJECT_VERSION}
         COMPATIBILITY AnyNewerVersion
         )
 
     # copy the *-targets.cmake file to the CMAKE_INSTALL_PREFIX directory
     install(EXPORT "${PROJECT_NAME}-targets"
             FILE "${PROJECT_NAME}-targets.cmake"
-            NAMESPACE "flexiv::omni::"
+            NAMESPACE "flexiv::"
             DESTINATION "lib/cmake/${PROJECT_NAME}"
             )
 
@@ -83,13 +83,13 @@ macro(FlexivInstallLibrary)
             )
 
     # Use the CPack Package Generator
-    set(CPACK_PACKAGE_VENDOR "flexiv")
+    set(CPACK_PACKAGE_VENDOR "Flexiv")
     set(CPACK_PACKAGE_CONTACT "[email protected]")
-    set(CPACK_PACKAGE_DESCRIPTION "flexiv omni teleop ")
+    set(CPACK_PACKAGE_DESCRIPTION "Flexiv Teleop Development Kit (TDK)")
     set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
     set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
     set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
     set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
-    set(CPACK_RESOURCE_FILE_README   "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
+    set(CPACK_RESOURCE_FILE_README  "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
     include(CPack)
 endmacro()
diff --git a/cmake/flexiv_omni_teleop-config.cmake.in b/cmake/flexiv_omni_teleop-config.cmake.in
diff --git a/cmake/flexiv_tdk-config.cmake.in b/cmake/flexiv_tdk-config.cmake.in
@@ -0,0 +1,7 @@
+include(CMakeFindDependencyMacro)
+
+# Find dependency
+find_dependency(flexiv_rdk REQUIRED)
+find_package(OpenSSL REQUIRED)
+# Add targets file
+include("${CMAKE_CURRENT_LIST_DIR}/@[email protected]")