Flexiv DDK

Flexiv DDK (Data Distribution Kit) is an auxiliary tool that enables the users to obtain realtime data from the robot, including system status, robot states and commands, primitive states, plan info, etc.

Environment Compatibility

OS	Platform	C++ compiler kit	Python interpreter
Linux (Ubuntu 20.04+)	x86_64	GCC v9.4+	3.8, 3.10, 3.12
Windows 10+	x86_64	MSVC v14.2+	3.8, 3.10, 3.12

Quick Start

The C++ DDK libraries are packed into a unified modern CMake project named flexiv_ddk, which can be configured and installed via CMake on all supported OS. The Python DDK library is a Python package that can be installed via pip.

Note

• You might need to turn off your computer's firewall or whitelist the DDK programs to be able to establish connection with the robot.

Quick Start - Python

Install the Python package

On all supported platforms, the Python package of DDK and its dependencies for a specific Python version can be installed using the pip module:

python3.x -m pip install spdlog flexivddk

NOTE: replace 3.x with a specific Python version.

Use the installed Python package

After the flexivddk Python package is installed, it can be imported from any Python script. Test with the following commands in a new Terminal, which should start Flexiv DDK:

python3.x
import flexivddk
robot = flexivddk.Client("Rizon4-123456")

The program will start searching for a robot with serial number Rizon4-123456, and will exit after a couple of seconds if the specified robot is not found in the local network.

Run example Python scripts

To run an example Python script in this repo:

cd flexiv_ddk/example_py
python3.x <example_name>.py [robot_serial_number]

For example:

python3.10 ./basics1_display_joint_states.py Rizon4-123456

Quick Start - C++

Install on Linux

1. In a new Terminal, install compiler kit, CMake (with GUI):

   sudo apt install build-essential cmake cmake-qt-gui -y
   

2. Choose a directory for installing DDK library and all its dependencies. This directory can be under system path or not, depending on whether you want DDK to be globally discoverable by CMake. For example, a new folder named ddk_install under the home directory.

3. In a new Terminal, run the provided script to compile and install all C++ dependencies to the installation directory chosen in step 2:

   cd flexiv_ddk/thirdparty
   bash build_and_install_dependencies.sh ~/ddk_install
   

4. In a new Terminal, use CMake to configure the flexiv_ddk project:

   cd flexiv_ddk
   mkdir build && cd build
   cmake .. -DCMAKE_INSTALL_PREFIX=~/ddk_install
   

   NOTE: -D followed by CMAKE_INSTALL_PREFIX sets the CMake variable that specifies the path of the installation directory. The configuration process can also be done using CMake GUI.

5. Install DDK:

   cd flexiv_ddk/build
   cmake --build . --target install --config Release
   

   DDK is installed to the path specified by CMAKE_INSTALL_PREFIX, which may or may not be globally discoverable by CMake.

Install on Windows

1. Install compiler kit: Download and install Microsoft Visual Studio 2019 (MSVC v14.2) or above. Choose "Desktop development with C++" under the Workloads tab during installation. You only need to keep the following components for the selected workload:
   • MSVC ... C++ x64/x86 build tools (Latest)
   • C++ CMake tools for Windows
   • Windows 10 SDK or Windows 11 SDK, depending on your actual Windows version
2. Install CMake (with GUI): Download cmake-3.x.x-windows-x86_64.msi from CMake download page and install the msi file. The minimum required version is 3.16.3. Add CMake to system PATH when prompted, so that cmake and cmake-gui command can be used from Command Prompt or a bash emulator.
3. Install bash emulator: Download and install Git for Windows, which comes with a bash emulator Git Bash.
4. Within the bash emulator, the rest are identical to steps 2 and below in Install on Linux.

Use the installed C++ library

After DDK is installed, it can be found as a CMake library and linked to by other CMake projects. Use the provided examples project for instance::

cd flexiv_ddk/example
mkdir build && cd build
cmake .. -DCMAKE_PREFIX_PATH=~/ddk_install
cmake --build . --config Release -j 4

NOTE: -D followed by CMAKE_INSTALL_PREFIX tells the user project's CMake where to find the installed DDK library. The instruction above applies to all supported OS.

Run example C++ programs

To run a compiled example C++ program:

cd flexiv_ddk/example/build
./<program_name> [robot_serial_number]

For example:

./basics1_display_joint_states Rizon4s-123456

API Documentation

The API documentation of a specified release can be generated manually using Doxygen. For example, on Linux:

sudo apt install doxygen-latex graphviz
cd flexiv_ddk
git checkout <release_tag>
doxygen doc/Doxyfile.in

The generated API documentation is under flexiv_ddk/doc/html/ directory. Open any html file with your browser to view it.