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C++ Examples

Programs that show how to use the flexiv_pdk C++ library, one feature at a time. Each one does the same as the Python example of the same name in ../python, and creates its own workcell, so they can run in any order.

Prerequisites

  • flexiv_pdk is installed to ~/pdk_install, as in the repository README.
  • A PDK server is running and reachable (default: localhost:50052), for every example except eigen_conversion_example.

Build

From this directory (examples/cpp):

mkdir -p build
cd build
cmake .. -DCMAKE_PREFIX_PATH=$HOME/pdk_install
make -j4

Or do the same in one step:

FLEXIV_PDK_PREFIX=$HOME/pdk_install bash build.sh

Note: If you installed the SDK somewhere else, use that path in place of $HOME/pdk_install.

Run

From this directory:

./build/<example-name>

The default server address is localhost:50052. To use a server elsewhere, set PDK_SERVER_ADDR:

PDK_SERVER_ADDR="192.168.1.100:50052" ./build/scene_example

The examples

Scene and kinematics

No license or robot needed.

Example Shows how to
scene_example Build a workcell with objects and two robot systems facing each other
components_service_example Query the robots and components the PDK knows, and create a custom tool
system_kinematics_example Compute forward and inverse kinematics of a robot system
watch_scene_events_example Receive scene changes as they happen, by callback or by a blocking read
eigen_conversion_example Convert between Eigen types and PDK messages. Needs no server

Point-to-point path

Needs a point_to_point_path license.

Example Shows how to
point_to_point_path_example Plan collision-free paths among objects, with different collision settings
system_pose_example Save a pose computed by forward kinematics, then plan a path to it by name

Surface finish

Needs a surface_finish license and the example mesh (see below).

Example Shows how to
mesh_toolpath_raster_example Create a raster tool path over a mesh
mesh_toolpath_sketch_example Create a sketch tool path over a mesh
linear_path_trajectory_generation_example Create a tool path, solve the robot motion along it, and generate its trajectory

Mesh operations

Needs a mesh_operation license and the example mesh (see below).

Example Shows how to
mesh_filter_example Filter a mesh
mesh_area_extraction_example Extract an area from a mesh

With a real robot

Needs a Flexiv robot with RDK remote mode enabled. Set serial_number in the source to your robot's, and rebuild.

Example Shows how to
system_setup_from_rdk_example Add a robot system to the scene from a connected robot's configuration
camera_example Add a camera, then save and list its images and point clouds
reconstruction_example Reconstruct the scene with a camera

The camera examples also need a camera enabled in Noema Edge's AIConsole. They use camera ID 9 on the robot's flange: change the camera ID, and set the camera's parent to world for a camera that is not on the robot.

Copy the example mesh

The surface finish and mesh operation examples load plane_1m_10x10.obj from the server's user_data/meshes/ folder. On the server's computer, from the root of the repository:

mkdir -p ../flexiv_pdk_data/user_data/meshes
cp examples/assets/plane_1m_10x10.obj ../flexiv_pdk_data/user_data/meshes/

When an example fails

A licensed example run without its license prints a failure whose message names the license it needs. See Activate Licenses.

For anything else, read the server's log:

pdk-scene log --level warning