Release/v1.2

.github/ISSUE_TEMPLATE/bug_report.md

@@ -10,8 +10,8 @@ assignees: pzhu-flexiv
 
 ## Version info
 
-- Sim Plugin: [e.g. v1.1]
-- OS: [e.g. Ubuntu 20.04, x86_64]
+- Sim Plugin: [e.g. v1.2]
+- OS: [e.g. Ubuntu 22.04, x86_64]
 
 ## How urgent is this bug? Have you found any workarounds?
 

CMakeLists.txt

@@ -3,20 +3,20 @@ cmake_minimum_required(VERSION 3.16.3)
 # ===================================================================
 #      PROJECT SETUP
 # ===================================================================
-project(flexiv_sim_plugin VERSION 1.1.0)
+project(flexiv_sim_plugin VERSION 1.2.0)
 
 # Configure build type
 if(NOT CMAKE_BUILD_TYPE)
   set(CMAKE_BUILD_TYPE Release CACHE STRING "CMake build type" FORCE)
 endif()
-set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Release" "Debug" "RelWithDebInfo")
+set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Release" "Debug" "RelWithDebInfo" "MinSizeRel")
 
 # Set static library according to platform
 message(STATUS "OS: ${CMAKE_SYSTEM_NAME}")
 message(STATUS "Processor: ${CMAKE_SYSTEM_PROCESSOR}")
 if(${CMAKE_SYSTEM_NAME} MATCHES "Linux")
   if(${CMAKE_SYSTEM_PROCESSOR} MATCHES "x86_64")
-    set(SIM_PLUGIN_STATIC_LIB "libflexiv_sim_plugin.x86_64-linux-gnu.a")
+    set(SIM_PLUGIN_LIB "libflexiv_sim_plugin.x86_64-linux-gnu.a")
   else()
     message(FATAL_ERROR "Linux with ${CMAKE_SYSTEM_PROCESSOR} processor is currently not supported.")
   endif()
@@ -32,51 +32,50 @@ endif()
 # 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()
+message(STATUS "Found Threads")
 
 # spdlog
 find_package(spdlog REQUIRED)
-if(spdlog_FOUND)
-  message(STATUS "Found spdlog: ${spdlog_DIR}")
-endif()
+message(STATUS "Found spdlog v${spdlog_VERSION}: ${spdlog_DIR}")
 
 # Fast-DDS (Fast-RTPS)
-find_package(fastrtps 2.6.7 REQUIRED)
-if(fastrtps_FOUND)
-  message(STATUS "Found fastrtps: ${fastrtps_DIR}")
-endif()
+find_package(fastrtps REQUIRED)
+message(STATUS "Found fastrtps v${fastrtps_VERSION}: ${fastrtps_DIR}")
+
+# Fast-CDR
+find_package(fastcdr REQUIRED)
+message(STATUS "Found fastcdr v${fastcdr_VERSION}: ${fastcdr_DIR}")
 
 # ===================================================================
 #      CREATE LIBRARY
 # ===================================================================
-# Create an INTERFACE library with no source file to compile
-add_library(${PROJECT_NAME} INTERFACE)
+# Create static library target with dummy source
+add_library(${PROJECT_NAME} STATIC ${CMAKE_CURRENT_SOURCE_DIR}/lib/dummy.cpp)
 
-# Create an alias of the library using flexiv namespace,
-# to imitate the install target which uses flexiv namespace.
+# Create an alias of the target with flexiv namespace
 add_library(flexiv::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
-target_include_directories(${PROJECT_NAME} INTERFACE
+# Set include directories
+target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
 
-target_link_libraries(${PROJECT_NAME} INTERFACE
-  ${CMAKE_CURRENT_SOURCE_DIR}/lib/${SIM_PLUGIN_STATIC_LIB}
+# Link to dependencies
+target_link_libraries(${PROJECT_NAME} PUBLIC
   Threads::Threads
   spdlog::spdlog
   fastrtps
+  fastcdr
 )
 
 # Use moderate compiler warning option
 if(CMAKE_HOST_UNIX)
-  target_compile_options(${PROJECT_NAME} INTERFACE -Wall -Wextra)
+  target_compile_options(${PROJECT_NAME} PUBLIC -Wall -Wextra)
 else()
-  target_compile_options(${PROJECT_NAME} INTERFACE /W1)
+  target_compile_options(${PROJECT_NAME} PUBLIC /W1)
 endif()
 
-# Install the INTERFACE library
+# Install the library
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/FlexivInstallLibrary.cmake)
 FlexivInstallLibrary()

README.md

@@ -127,7 +127,7 @@ An example program that mocks an external simulator is provided and can be used
    NOTE: the robot serial number provided to the program is the same one you noted down when creating the simulated robot in Flexiv Elements Studio.
 
 2. Go back to Elements Studio, then restart the exited simulator by toggling ON the *Connect* button.
-3. Wait for the connection to establish. If the connection is successful, you should see the visualized robot in Elements Studio moving every joint back and forth. A software error should occur in Elements Studio which is expected because the mock external simulator did not close the loop by applying the calculated joint torques command to the simulated robot in it. This won't happen to real external simulators.
+3. Wait for the connection to establish. If the connection is successful, you should see the visualized robot in Elements Studio moving every joint back and forth. NOTE: a software error should occur in Elements Studio which is expected because the mock external simulator did not close the loop by applying the calculated joint torques command to the simulated robot in it. This won't happen to real external simulators.
 
 ## Quick Start - Python
 

cmake/FlexivInstallLibrary.cmake

@@ -68,20 +68,28 @@ macro(FlexivInstallLibrary)
         COMPATIBILITY AnyNewerVersion
         )
 
-    # copy the *-targets.cmake file to the CMAKE_INSTALL_PREFIX directory
+    # Copy the *-targets.cmake file to the CMAKE_INSTALL_PREFIX directory
     install(EXPORT "${PROJECT_NAME}-targets"
             FILE "${PROJECT_NAME}-targets.cmake"
             NAMESPACE "flexiv::"
             DESTINATION "lib/cmake/${PROJECT_NAME}"
             )
 
-    # copy the *.-config file to the CMAKE_INSTALL_PREFIX directory. This will specify the dependencies.
+    # Copy the *.-config file to the CMAKE_INSTALL_PREFIX directory. This will specify the dependencies.
     configure_file("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${PROJECT_NAME}-config.cmake.in" "${PROJECT_NAME}-config.cmake" @ONLY)
     install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
                   "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
             DESTINATION "lib/cmake/${PROJECT_NAME}"
             )
 
+    # Replace the dummy static lib with the actual static lib 
+    install(CODE 
+            "file(REMOVE ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/${CMAKE_STATIC_LIBRARY_PREFIX}${PROJECT_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX})")
+    install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/lib/${SIM_PLUGIN_LIB}
+            DESTINATION ${CMAKE_INSTALL_LIBDIR}
+            RENAME ${CMAKE_STATIC_LIBRARY_PREFIX}${PROJECT_NAME}${CMAKE_STATIC_LIBRARY_SUFFIX}
+            )
+
     # Use the CPack Package Generator
     set(CPACK_PACKAGE_VENDOR "Flexiv")
     set(CPACK_PACKAGE_CONTACT "support@flexiv.com")

cmake/flexiv_sim_plugin-config.cmake.in

@@ -4,7 +4,8 @@ include(CMakeFindDependencyMacro)
 set(THREADS_PREFER_PTHREAD_FLAG ON)
 find_dependency(Threads REQUIRED)
 find_dependency(spdlog REQUIRED)
-find_dependency(fastrtps 2.6.7 REQUIRED)
+find_dependency(fastrtps REQUIRED)
+find_dependency(fastcdr REQUIRED)
 
 # Add targets file
 include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@-targets.cmake")

doc/Doxyfile.in

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Flexiv Sim Plugin APIs"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER         = 1.1.0
+PROJECT_NUMBER         = 1.2.0
 
 # 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

example/mock_external_simulator.cpp

@@ -27,8 +27,7 @@ constexpr double kSineAmp = 0.035;
 constexpr double kSineFreq = 0.3;
 
 // Initial joint positions when the robot is at home posture [rad]
-constexpr std::array<float, sim_plugin::kJointDoF> kInitQ
-    = {0.0, -0.698132, 0.0, 1.5708, 0.0, 0.698132, 0.0};
+const std::vector<float> kInitQ = {0.0, -0.698132, 0.0, 1.5708, 0.0, 0.698132, 0.0};
 
 // Servo cycle of the physics loop
 unsigned int g_servo_cycle = 0;
@@ -60,13 +59,13 @@ void StepPhysics(sim_plugin::UserNode& user_node)
     robot_states.servo_cycle = g_servo_cycle++;
 
     // Set joint positions to sine waves
-    for (size_t i = 0; i < sim_plugin::kJointDoF; i++) {
+    for (size_t i = 0; i < kInitQ.size(); i++) {
         robot_states.q[i]
             = kInitQ[i] + kSineAmp * sin(2 * M_PI * kSineFreq * g_servo_cycle * kPhysicsPeriod);
     }
 
     // Set joint velocities to corresponding cosine waves
-    for (size_t i = 0; i < sim_plugin::kJointDoF; i++) {
+    for (size_t i = 0; i < kInitQ.size(); i++) {
         robot_states.dq[i] = kSineAmp * 2 * M_PI * kSineFreq
                              * cos(2 * M_PI * kSineFreq * g_servo_cycle * kPhysicsPeriod);
     }
@@ -87,7 +86,7 @@ void StepPhysics(sim_plugin::UserNode& user_node)
 
     // Step 4: apply joint torques command to the simulated robot in the external simulator
     // =============================================================================================
-    auto target_joint_torques = user_node.robot_commands().tau_d;
+    auto target_joint_torques = user_node.robot_commands().target_drives;
     // Call the external simulator's API to apply the target joint torques
 
     // End the current physics step with kPhysicsPeriod as the total loop period

example_py/mock_external_simulator.py

@@ -85,7 +85,7 @@ def step_physics(user_node, logger):
 
     # Step 4: apply joint torques command to the simulated robot in the external simulator
     # =============================================================================================
-    target_joint_torques = user_node.robot_commands().tau_d
+    target_joint_torques = user_node.robot_commands().target_drives
     # Call the external simulator's API to apply the target joint torques
 
     # End the current physics step with kPhysicsPeriod as roughly the total loop period

include/flexiv/sim_plugin/data.hpp

@@ -8,56 +8,61 @@
 #define FLEXIV_SIM_PLUGIN_DATA_HPP_
 
 #include <array>
+#include <vector>
 #include <string>
 
 namespace flexiv {
 namespace sim_plugin {
 
-/** Joint-space degrees of freedom of the simulated robot */
-constexpr size_t kJointDoF = 7;
-
 /** Number of simulated digital IO ports */
 constexpr size_t kIOPorts = 16;
 
 /** States data of a simulated robot in the external simulator */
 struct SimRobotStates
 {
     /** @brief Customized constructor */
-    SimRobotStates(uint64_t _servo_cycle, const std::array<float, kJointDoF>& _q,
-        const std::array<float, kJointDoF>& _dq)
+    SimRobotStates(
+        uint64_t _servo_cycle, const std::vector<float>& _q, const std::vector<float>& _dq)
     : servo_cycle(_servo_cycle)
     , q(_q)
     , dq(_dq)
     {
     }
+
     /** @brief Default constructor */
     SimRobotStates() = default;
 
     /** Servo cycle incremented once per physics step of the external simulator */
     uint64_t servo_cycle = 0;
 
-    /** Current joint positions of the simulated robot [rad] */
-    std::array<float, kJointDoF> q = {};
+    /** Current joint positions of the simulated robot: \f$ q \in \mathbb{R}^{n \times 1} \f$. Unit:
+     * \f$ [rad] or [m] \f$.
+     * @note This contains values for both the external axes (if any) and the robot manipulator. */
+    std::vector<float> q = {};
 
-    /** Current joint velocities of the simulated robot [rad/s] */
-    std::array<float, kJointDoF> dq = {};
+    /** Current joint velocities of the simulated robot: \f$ \dot{q} \in \mathbb{R}^{n \times 1}
+     * \f$. Unit: \f$ [rad/s] or [m/s] \f$.
+     * @note This contains values for both the external axes (if any) and the robot manipulator. */
+    std::vector<float> dq = {};
 };
 
 /** Commands data for a simulated robot in the external simulator */
 struct SimRobotCommands
 {
     /** @brief Customized constructor */
-    SimRobotCommands(const std::array<float, kJointDoF>& _tau_d,
+    SimRobotCommands(const std::vector<float>& _target_drives,
         const std::array<bool, kIOPorts>& _digital_outputs)
-    : tau_d(_tau_d)
+    : target_drives(_target_drives)
     , digital_outputs(_digital_outputs)
     {
     }
     /** @brief Default constructor */
     SimRobotCommands() = default;
 
-    /** Target joint torques for the simulated robot [Nm]. */
-    std::array<float, kJointDoF> tau_d = {};
+    /** Target joint drives for the simulated robot, can be torques or velocities depending on the
+     * drive type of the joint. Unit: \f$ [Nm] or [rad/s] or [m/s] \f$.
+     * @note This contains values for both the external axes (if any) and the robot manipulator. */
+    std::vector<float> target_drives = {};
 
     /** Desired digital outputs for the simulated robot. The index of this boolean array corresponds
      * to that of the digital output ports. True: port high, false: port low. */

lib/dummy.cpp

@@ -0,0 +1,5 @@
+/**
+ * @file dummy.cpp
+ * @brief A dummy source file to add portability to the installed flexiv_rdk library
+ */
+void dummy() { }

thirdparty/build_and_install_dependencies.sh

@@ -19,23 +19,31 @@ fi
 INSTALL_DIR=$1
 echo "Dependencies will be installed to: $INSTALL_DIR"
 
-# Use specified number for parallel build jobs, otherwise use number of cores 
+# Use specified number for parallel build jobs, otherwise use 4
 if [ -n "$2" ] ;then
-    NUM_JOBS=$2
+    export NUM_JOBS=$2
 else
-    NUM_JOBS=4
+    export NUM_JOBS=4
 fi
 echo "Number of parallel build jobs: $NUM_JOBS"
 
+# Set shared cmake arguments
+SHARED_CMAKE_ARGS="-DCMAKE_BUILD_TYPE=Release \
+                   -DBUILD_SHARED_LIBS=OFF \
+                   -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
+                   -DCMAKE_PREFIX_PATH=$INSTALL_DIR \
+                   -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR \
+                   -DBUILD_TESTING=OFF"
 
 # Clone all dependencies in a subfolder
 mkdir -p cloned && cd cloned
+export SHARED_CMAKE_ARGS
 
 # Build and install all dependencies to INSTALL_DIR
-bash $SCRIPTPATH/scripts/install_spdlog.sh $INSTALL_DIR $NUM_JOBS
-bash $SCRIPTPATH/scripts/install_tinyxml2.sh $INSTALL_DIR $NUM_JOBS
-bash $SCRIPTPATH/scripts/install_foonathan_memory.sh $INSTALL_DIR $NUM_JOBS
-bash $SCRIPTPATH/scripts/install_Fast-CDR.sh $INSTALL_DIR $NUM_JOBS
-bash $SCRIPTPATH/scripts/install_Fast-DDS.sh $INSTALL_DIR $NUM_JOBS
+bash $SCRIPTPATH/scripts/install_spdlog.sh
+bash $SCRIPTPATH/scripts/install_tinyxml2.sh
+bash $SCRIPTPATH/scripts/install_foonathan_memory.sh
+bash $SCRIPTPATH/scripts/install_Fast-CDR.sh
+bash $SCRIPTPATH/scripts/install_Fast-DDS.sh
 
 echo ">>>>>>>>>> Finished <<<<<<<<<<"

thirdparty/scripts/install_Fast-CDR.sh

@@ -2,31 +2,21 @@
 set -e
 echo "Installing Fast-CDR"
 
-# Get install directory and number of parallel build jobs as script arguments
-INSTALL_DIR=$1
-NUM_JOBS=$2
+# Use a specific version
+VER_TAG=v1.0.28
 
 # Clone source code
 if [ ! -d Fast-CDR ] ; then
-  git clone https://github.com/eProsima/Fast-CDR.git
+  git clone https://github.com/eProsima/Fast-CDR.git --branch $VER_TAG
   cd Fast-CDR
 else
   cd Fast-CDR
+  git checkout $VER_TAG
 fi
 
-# Use specific version
-git fetch -p
-git checkout v1.0.24
-git submodule update --init --recursive
-
 # Configure CMake
 mkdir -p build && cd build
-cmake .. -DCMAKE_BUILD_TYPE=Release \
-         -DBUILD_SHARED_LIBS=OFF \
-         -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
-         -DCMAKE_INSTALL_PREFIX=$INSTALL_DIR \
-         -DCMAKE_PREFIX_PATH=$INSTALL_DIR \
-         -DCOMPILE_EXAMPLES=OFF
+cmake .. $SHARED_CMAKE_ARGS -DCOMPILE_EXAMPLES=OFF
 
 # Build and install
 cmake --build . --target install --config Release -j $NUM_JOBS