Release/v1.0 (#3)

Bump version to 1.0 Add openssl dependency Bump boost to version 1.74.0 Add Omni license generator and readme Update info in doxygen template Remove Ubuntu20.04 support ADD Add external wrench feedback and wrist singularity avoidance repulsive force Add bool isOperational(void) Add void setLocalNullSpacePosture(const std::array<double, k_jointDOF>& preferredPositions) Add void setRemoteNullSpacePosture(const std::array<double, k_jointDOF>& preferredPositions) Add void setRemoteMaxWrench(const std::array<double, k_cartDOF>& max_wrench) Add void setRepulsiveWrench( const std::array<double, k_cartDOF>& repulsiveWrench, bool inWorld = true) Add TeleopRobotInfo getLocalInfo(void) const Add TeleopRobotInfo getRemoteInfo(void) const CHANGE Change void clearFault(void) to bool clearFault(void) Change void Robot2RobotTeleop::run(bool isBlocking) to void Robot2RobotTeleop::run(void) Remove Robot2RobotTeleop::setLocalCartesianStiffness and Robot2RobotTeleop::setRemoteCartesianStiffness Change void run(void) to void step(void)
flexivrobotics · May 21, 2024 · f5c1f43 · f5c1f43
1 parent bf92c2e
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diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -23,55 +23,14 @@ jobs:
       - uses: actions/checkout@v2
 
       - name: Build and install dependencies
-        # Build and install all dependencies to RDK installation directory.
+        # Build and install all dependencies to flexiv_omni_teleop 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 RDK 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.
-        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.
-      #   run: |
-      #     cd ${{github.workspace}}/test
-      #     mkdir -p build && cd build
-      #     cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
-      #     make -j$(nproc)
-
-  build-ubuntu-20:
-    # The CMake configure and build commands are platform agnostic and should work equally
-    # well on Windows or Mac.  You can convert this to a matrix build if you need
-    # cross-platform coverage.
-    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
-    runs-on: ubuntu-20.04
-
-    steps:
-      - uses: actions/checkout@v2
-
-      - name: Build and install dependencies
-        # Build and install all dependencies to RDK 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 RDK installation directory.
+        # Configure CMake, then build and install the flexiv_omni_teleop INTERFACE library to flexiv_omni_teleop installation directory.
         run: |
           cd ${{github.workspace}}
           mkdir -p build && cd build

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 3.18.6)
+cmake_minimum_required(VERSION 3.22.1)
 
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_omni_teleop VERSION 0.7.0)
+project(flexiv_omni_teleop VERSION 1.0.0)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
@@ -67,6 +67,11 @@ 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()
 
 
 # ===================================================================
@@ -86,6 +91,7 @@ target_include_directories(${PROJECT_NAME} INTERFACE
 
 target_link_libraries(${PROJECT_NAME} INTERFACE
   ${TELEOP_STATIC_LIBRARY}
+  ${OPENSSL_LIBRARIES}
   Threads::Threads
   Eigen3::Eigen
   fastrtps

diff --git a/README.md b/README.md
@@ -1,8 +1,8 @@
-# Flexiv Omni Teleop SDK
+# Flexiv Omni Teleop
 
-![CMake Badge](https://github.com/flexivrobotics/flexiv_omni_teleop/actions/workflows/cmake.yml/badge.svg) ![Version](https://img.shields.io/badge/version-0.7-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_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)
 
-The Flexiv Omni Teleop SDK provides C++ APIs for developing complex and customized applications involving robot-robot or device-robot teleoperation. The supported devices are listed below.
+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.
 
 ## Supported devices
 
@@ -12,55 +12,63 @@ The Flexiv Omni Teleop SDK provides C++ APIs for developing complex and customiz
 
 ## Compatibility
 
-| **Supported OS**           | **Supported processor** | **Supported language** | **Required compiler kit** |
-| -------------------------- | ----------------------- | ---------------------- | ------------------------- |
-| Linux (Ubuntu 20.04/22.04) | x86_64                  | C++                    | build-essential           |
-
-### Applying for a license
-1. Run the generator to generate your feature ID and provide the feature id to apply for the license.
-Note: The feature id is a unique identifier for your application and is bound to your local computer. Please generate feature ID and use license on the same computer.
+| **Supported OS**     | **Supported processor** | **Supported language** | **Required compiler kit** |
+| -------------------- | ----------------------- | ---------------------- | ------------------------- |
+| Linux (Ubuntu 22.04) | x86_64                  | C++                    | build-essential           |
 
 ### Compile and install for Linux
 
-1. In a new Terminal, install C++ compiler, Git, and CMake (with GUI) using the package manager:
+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
 
-   ```bash
-   sudo apt install build-essential 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.
+
 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:
 
-   ```bash
-   cd flexiv_omni_teleop/thirdparty
-   bash build_and_install_dependencies.sh ~/teleop_install
-   ```
+      cd flexiv_omni_teleop/thirdparty
+      bash build_and_install_dependencies.sh ~/teleop_install
+
 4. In a new Terminal, use CMake to configure `flexiv_omni_teleop`:
 
-   ```bash
-   cd flexiv_omni_teleop
-   mkdir build && cd build
-   cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
-   ```
+      cd flexiv_omni_teleop
+      mkdir build && cd build
+      cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_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:
 
-   ```bash
-   cd flexiv_omni_teleop/build
-   cmake --build . --target install --config Release
-   ```
+      cd flexiv_omni_teleop/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.
+
 ### 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:
 
-   ```bash
-   cd flexiv_omni_teleop/example
-   mkdir build && cd build
-   cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_install
-   cmake --build . --config Release -j 4
-   ```
+      cd flexiv_omni_teleop/example
+      mkdir build && cd build
+      cmake .. -DCMAKE_INSTALL_PREFIX=~/teleop_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.
-2. Set all the robots were in `Auto/Remote Mode` via flexiv Elements, then to run an compiled example program:
 
-   ```bash
-   sudo ./<program_name> -l [local_robot_serial_number] -r [remote_robot_serial_number] -c [path-to-licenseCfg.json]
-   ```
+### Run Omni-Teleop
+
+1. Apply for Omni license to run Omni-Teleop. See [Omni_license.md](omni_license_generator/Omni_license.md)
+
+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]
+
+### API Documentation
+
+API doc can be generated using doxygen
+
+      sudo apt install doxygen-latex graphviz
+      cd flexiv_omni_teleop
+      doxygen doc/Doxygen.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.
diff --git a/doc/Doxygen.in b/doc/Doxygen.in
@@ -32,13 +32,13 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "flexiv_omni_teleoperation"
+PROJECT_NAME           = "Flexiv Omni Teleop"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = "0.6"
+PROJECT_NUMBER         = "1.0"
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.18.6)
+cmake_minimum_required(VERSION 3.22.1)
 
 project(flexiv_omni_teleop_example)
 
@@ -18,7 +18,7 @@ endif()
 list(APPEND CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX})
 
 set(EXAMPLE_LIST
-    basic_free_space_motion_teleop
+   basics1_cartesian_teleop
 )
 
 find_package(flexiv_omni_teleop REQUIRED)

diff --git a/example/basic_free_space_motion_teleop.cpp b/example/basic_free_space_motion_teleop.cpp