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*.lib filter=lfs diff=lfs merge=lfs -text | ||
*.dll filter=lfs diff=lfs merge=lfs -text | ||
*.pdb filter=lfs diff=lfs merge=lfs -text | ||
*.a filter=lfs diff=lfs merge=lfs -text | ||
*.so filter=lfs diff=lfs merge=lfs -text |
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cmake-build-*/ | ||
.vs*/ | ||
.idea/ | ||
/example/cpp/myTest.* |
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# CHANGELOG | ||
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## v0.3.4 2023-11-02 | ||
* 兼容性 | ||
* xCore >= v2.1.0.15 (三位发布号v2.1.0) | ||
* xMateModel模型库增加支持Windows-64 Debug版本 | ||
* 新增 | ||
* Robot类的默认构造,带IP地址参数的连接机器人接口connectToRobot(remoteIP, localIP) | ||
* 读取设置软限位接口getSoftLimit(), setSoftLimit() | ||
* 协作机器人读取末端力矩接口getEndTorque() | ||
* 碰撞检测触发行为增加柔顺停止(StopLevel::suppleStop)和柔顺度选项 | ||
* xMateCR和xMateSR机型奇异规避相关接口: 奇异规避&平行基座Jog,设置奇异规避模式运动setAvoidSingularity(), | ||
* 非实时运动信息反馈增加点位距离过近的报警信息(EventInfoKey::MoveExecution::Remark) | ||
* 工具/工件/基坐标系标定接口calibrateFrame() | ||
* 螺旋线运动指令MoveSPCommand | ||
* 设置是否严格遵循轴配置数据接口setDefaultConfOpt() | ||
* 模型库支持所有已知协作机型,增加支持XMS3, XMS4, XMC18, XMC20 | ||
* 修复&优化 | ||
* 在工具工件坐标系下Jog机器人,由原来的使用RobotAssist右上角选择的工具工件,改为使用通过setToolset()设置的工具工件坐标系 | ||
* 全圆指令MoveCFCommand参数全圆执行角度(angle)单位由度数改为弧度 | ||
* 删除ForceControlFrameType枚举类,setFcCoor()中坐标系类型参数改为FrameType | ||
* 修复实时模式运动中发生异常(如急停)不能恢复、只能重新运行的问题 | ||
* 移除模型库对glog的依赖 | ||
* 修复计算逆解接口不回复,或者用时较长的问题 | ||
* 修复因网络异常没有处理造成的实时收发线程可能崩溃的问题 | ||
* 其它已知问题 | ||
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## v0.3.3 2023-08-23 | ||
* 兼容性 | ||
* 增加Linux下不依赖模型库的xCoreSDK.so, 可用于编译动态库 | ||
* 修复&优化 | ||
* 通过moveAppend()发送运动指令可能不执行的问题 | ||
* 实时模式轴空间阻抗控制,放宽阻抗系数上限到3000, 300 | ||
* RL工程相关接口没有检查模式的问题 | ||
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## v0.3.2 2023-07-04 | ||
* 兼容性 | ||
* xCore >= v2.0.1 | ||
* xMateModel模型库支持Linux x86_64; 及Windows Release编译类型 | ||
* 新增 | ||
* 运动指令MoveCF | ||
* 设置和打开关闭碰撞检测接口; 碰撞监测功能 | ||
* 修复 | ||
* 实时模式急停后恢复运动的问题; 及其它已知问题 | ||
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## v0.3.1 2023-05-03 | ||
* 兼容性 | ||
* xCore >= v2.0.0.7 | ||
* 增加动态库;xMateModel及相关接口除外,仅支持Linux静态库 | ||
* 新增&优化 | ||
* 非实时运动指令增加暂停、继续、获取运动指令执行信息功能,新增接口moveStart(), moveAppend(); 及设置事件回调setEventWatcher(); | ||
* 笛卡尔目标点增加偏移选项(Offs/Reltool) | ||
* 增加全局调整运动速率接口adjustSpeedOnline() | ||
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## v0.3.0 2023-03-07 | ||
* 兼容性 | ||
* xCore >= v2.0.0.1 | ||
* 新增&优化 | ||
* xCore版本匹配检查 | ||
* 工业六轴机型支持实时模式位置控制 | ||
* 支持不开启实时模式的情况下读取状态数据 | ||
* 更新Eigen库 | ||
* 增加设置IO仿真模式和设置DI | ||
* ”XMate“开头的类改成为”xMate"开头 | ||
* projectPointToMain()改为ppToMain() | ||
* 修复 | ||
* loadProject()加载工程增加工程是否存在的检查 | ||
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## v0.2.8 2023-02-15 | ||
* 新增&优化 | ||
* 合并CartesianPosition & CartesianPose | ||
* 删除append()&executeCommands() | ||
* 增加FollowPosition目标跟随 | ||
* xMateModel增加适配CR&SR机型 | ||
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## v0.2.7 2023-02-01 | ||
* 新增&优化 | ||
* 实时模式状态数据改为同步接收;读取接口统一为getStateData(); 增加updateRobotState()更新状态数据 | ||
* 去掉接收数据以及周期调度的间隔参数,统一为间隔为1ms | ||
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## v0.2.6 2023-01-12 | ||
* 修复 | ||
* 调用append()发送多条运动指令后自动开始执行的问题,修改回发送后立即开始执行。append()和executeCommands()接口弃用。 | ||
* 没有处理网络断开、解析回复失败等发生错误时抛出的异常 | ||
* 新增&优化 | ||
* executeCommand(), 接口功能与v0.2.0之前版本的append()一样 | ||
* 删除data_types.h中数据结构getter&setter | ||
* CartesianPosition类增加臂角值"elbow" | ||
* 删除xMateModel库getJointPosWithConf()接口 | ||
* Debug版本加一点错误打印 | ||
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## v0.2.5 2023-01-09 | ||
* 兼容性 | ||
* 增加MSVC Debug版本库 | ||
* 新增 | ||
* 实时模式上位机规划MoveC指令 | ||
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## v0.2.4 2023-01-05 | ||
* 兼容性 | ||
* xCore版本 >= v1.7.0.9 (影响与原版RCI客户端切换使用问题) | ||
* 修复 | ||
* 实时模式运动异常无法回传到主线程的问题 | ||
* 一些接口的数据设置返回结果没有赋给错误码 | ||
* 新增 | ||
* 查询控制器日志 | ||
* 切换回原版RCI客户端的接口 | ||
* 数据转换工具类 | ||
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## v0.2.3 2022-12-27 | ||
* 兼容性 | ||
* xCore版本 >= v1.7.0.7 (仅影响运动RL工程的速率设置) | ||
* 新增 | ||
* 加载、运行、暂停运行RL工程相关函数 | ||
* jog机器人 | ||
* 读写模拟量信号,读写寄存器 | ||
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## v0.2.2 2022-12-19 | ||
* 兼容性 | ||
* xCore版本 >= v1.7.0.6 (仅影响RCI模式下打开关闭拖动) | ||
* 新增 | ||
* 实时MoveL & MoveJ运动指令 | ||
* 连接机器人时检查工业/协作类型 | ||
* 修复 | ||
* RCI模式下打开/关闭拖动没有调用RCI对应方法的问题 | ||
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## v0.2.1 2022-12-09 | ||
* 新增 | ||
* 断开/重新连接到RCI服务器接口 | ||
* 设置丢包阈值接口,微调整控制器内计算丢包率方法 | ||
* 等待接收控制器发送的实时状态信息超时时间为3秒 | ||
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## v0.2.0 2022-12-07 | ||
* 兼容性 | ||
* xCore版本 >= v1.7.0.5 | ||
* 新增 | ||
* RCI实时控制,关节/笛卡尔位置/阻抗控制 | ||
* xMateModel模型库,只支持Linux系统 | ||
* 非实时运动指令增加executeCommands(),将发送运动指令到缓存和开始运动分离,调用append()后机器人不再直接开始运动 | ||
* 修复 | ||
* append()单条指令转弯区不生效的问题(和第3条新增描述的内容相关) | ||
* 优化append()多条指令默认只用第一条指令的转弯区和速度设置的问题。每个单独设置了转弯区或速度的指令都生效。 | ||
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## v0.1.5 2022-11-07 | ||
* 修复 | ||
* 缺少头文件导致的编译问题 | ||
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## v0.1.4 2022-10-24 | ||
* 修复 | ||
* 由于轴配置数据默认为0而导致的计算逆解错误问题。同时修改正逆解函数参数和返回值,带上轴配置数据 | ||
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## v0.1.3 2022-10-19 | ||
* 兼容性 | ||
* 编译器 | ||
* MSVC 14.1+ (Visual Studio 2017 version 15.0) | ||
* 修复 | ||
* dll导入导出属性导致的静态库链接问题 | ||
* 断开机器人连接或Robot对象被析构时,仅当机器人在执行SDK发送的运动指令时才停止运动 | ||
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## v0.1.2 2022-10-17 | ||
* 新增 | ||
* 下发运动指令接口append()增加vector类型作为参数 | ||
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## v0.1.1 2022-10-11 | ||
* 兼容性 | ||
* xCore版本 >= V1.6.2 | ||
* 新增 | ||
* 路径录制与回放相关接口,及示例程序 | ||
* 修复 | ||
* 直接调用关闭拖动接口会报错 | ||
* 机器人处于摩擦力/动力学辨识等状态时,查询状态返回信息不准确 | ||
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## v0.1.0 2022-09-23 | ||
* 兼容性 | ||
* xCore版本 >= V1.6.1 | ||
* 开发语言: C++ | ||
* 操作系统及编译器 | ||
* Windows10 - MSVC 14.2+ (Visual Studio 2019 version 16.0) | ||
* Ubuntu 18.04+ | ||
* 新增 | ||
* 机器人基本操作, 包括上下电,切换模式,查询状态位姿,DI/DO设置,打开关闭拖动等 | ||
* 非实时运动控制,使用控制器内部路径规划完成MoveJ/MoveL/MoveAbsJ/MoveC运动指令 |
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cmake_minimum_required (VERSION 3.12) | ||
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#------------------------------------------------------------------------------ | ||
## Project setup | ||
project (xCoreSDK VERSION 0.3.4) | ||
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message(STATUS "") | ||
message(STATUS " == ${PROJECT_NAME} project configuration ==") | ||
message(STATUS "") | ||
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#------------------------------------------------------------------------------ | ||
## General settings | ||
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# Setup output path | ||
include(GNUInstallDirs) | ||
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib" CACHE PATH "Archive output dir.") | ||
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib" CACHE PATH "Library output dir.") | ||
set(CMAKE_PDB_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin" CACHE PATH "PDB (MSVC debug symbol)output dir.") | ||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin" CACHE PATH "Executable/dll output dir.") | ||
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# default build type: release | ||
if(NOT CMAKE_BUILD_TYPE ) | ||
set(CMAKE_BUILD_TYPE Release CACHE STRING | ||
"The type of build, options are: Debug, Release, RelWithDebInfo, MinSizeRel." FORCE ) | ||
endif() | ||
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# Compiler options | ||
set(CMAKE_CXX_STANDARD 17) | ||
set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
set(CMAKE_EXPORT_COMPILE_COMMANDS ON) | ||
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# Be nice to visual studio | ||
set_property(GLOBAL PROPERTY USE_FOLDERS ON) | ||
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#------------------------------------------------------------------------------- | ||
## Compile options | ||
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# Using static/shared libraries option | ||
option(XCORE_LINK_SHARED_LIBS "Example executables link shared library" OFF) | ||
# Compile option: whether using xMateModel library. Only Linux x86_64 system and Windows release supports | ||
option(XCORE_USE_XMATE_MODEL "xMate model library for calculation" OFF) | ||
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#------------------------------------------------------------------------------- | ||
# Set default install location to dist folder in build dir | ||
if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT) | ||
set (CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/dist" CACHE PATH | ||
"Install path prefix, prepended onto install directories." FORCE ) | ||
endif() | ||
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#------------------------------------------------------------------------------ | ||
# Included CMakeLists.txt | ||
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# External resources/repositories are downloaded here | ||
add_subdirectory(external) | ||
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# Public headers | ||
add_subdirectory(include) | ||
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# xCore-SDK libraries | ||
add_subdirectory(lib) | ||
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# Example usages | ||
add_subdirectory(example) | ||
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# doc | ||
add_subdirectory(doc) | ||
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#------------------------------------------------------------------------------- | ||
# Wrap up of settings printed on build | ||
message(STATUS "") | ||
message(STATUS " == Final overview for ${PROJECT_NAME} ==") | ||
message(STATUS "Version: ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH} ${VERSION_TYPE} @ ${VERSION_HOST}") | ||
message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}") | ||
message(STATUS "Compiler: ${CMAKE_CXX_COMPILER}") | ||
message(STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}") | ||
message(STATUS " possible options: Debug Release RelWithDebInfo MinSizeRel") | ||
message(STATUS " set with ` cmake -DCMAKE_BUILD_TYPE=Debug .. `") | ||
message(STATUS "") | ||
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# xCore SDK 机器人控制接口 | ||
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* xCore SDK编程接口库是珞石机器人提供给客户用于二次开发的软件产品,通过编程接口库,客户可以对机器人进行一系列控制和操作。 | ||
* xCore SDK提供对机器人的非实时控制和实时控制。 | ||
* 非实时控制主要通过发送目标点为关节点位或笛卡尔点位的运动指令,使用控制器内部的轨迹规划,完成如MoveL,MoveJ等运动。 | ||
此外,还支持查询机器人状态、位姿信息、DI/DO控制等操作。 | ||
* 实时模式最高达1KHz的实时控制,可用于算法验证以及新应用的开发。 | ||
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## 兼容性 | ||
### 机器人控制器 | ||
xCore控制器版本 v2.1.0+ | ||
### 编译环境 | ||
|操作平台|编译器|平台|语言| | ||
|----|---|----|----| | ||
|Ubuntu 18.04/20.04/22.04|build-essential|x86_64|C++| | ||
|Windows 10|MSVC 14.1+|x86_64|C++| | ||
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## 编译 | ||
C++版本xCore SDK使用CMake构建工程,CMake版本不低于3.12。 | ||
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### 准备工作 | ||
#### Ubuntu | ||
* 安装g++和cmake `sudo apt install cmake g++` | ||
* 对于Ubuntu 18.04,默认的CMake版本是3.10,可使用下列方法安装最新版本的CMake | ||
~~~ | ||
sudo apt remove --purge --auto-remove cmake | ||
sudo apt update && \ | ||
sudo apt install -y software-properties-common lsb-release && \ | ||
sudo apt clean all | ||
wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null | ||
sudo apt-add-repository "deb https://apt.kitware.com/ubuntu/ $(lsb_release -cs) main" | ||
sudo apt update | ||
sudo apt install kitware-archive-keyring | ||
sudo rm /etc/apt/trusted.gpg.d/kitware.gpg | ||
~~~ | ||
如果运行 `sudo apt update`出现`NO_PUBKEY`错误,运行: | ||
~~~ | ||
sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys 6AF7F09730B3F0A4 | ||
~~~ | ||
再继续执行: | ||
~~~ | ||
sudo apt update | ||
sudo apt install cmake | ||
~~~ | ||
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#### Windows | ||
* 下载并安装Microsoft Visual Studio,版本不低于2017,选择安装 *使用C++的桌面应用* 。 | ||
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### 编译Targets | ||
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*Note:* 根据不同的可执行程序名称,编译目标名称也会不同 | ||
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* Build | ||
* *all* (the default if no target is provided) | ||
* *clean* | ||
* *sdk_example* - 示例程序 | ||
* *install* - 安装可执行文件到 *CMAKE_INSTALL_PREFIX* | ||
* *doc* - 生成API文档, 需要安装Doxygen | ||
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### CMake选项 | ||
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* `CMAKE_INSTALL_PREFIX` - 安装路径 | ||
* `CMAKE_BUILD_TYPE` - 编译类型 | ||
* `XCORE_LINK_SHARED_LIBS` - 是否链接动态库 | ||
* `XCORE_USE_XMATE_MODEL` - 是否使用xMate模型库进行运动学和动力学计算。目前支持Linux x86_64和Windows Release类型编译。 | ||
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## 使用方法 | ||
### 硬件设置 | ||
xCore SDK通过以太网(TCP/IP)连接机器人。如果只使用非实时控制,对网络的要求并不高,通过有线或无线连接皆可,使工作站PC和机器人连接同一局域网。 | ||
如果使用实时模式,建议通过有线网直连机器人,以保证网络稳定性。 | ||
### 机器人设置 | ||
* xCore SDK在使用前不需要通过Robot Assist打开相关功能。 | ||
* xCoreSDK为需要授权的功能,如遇“功能未授权”的错误信息,请联系客户支持人员 | ||
### 接口使用 | ||
见 *example* | ||
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# License | ||
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> Copyright (C) 2023 ROKAE (Beijing) Technology Co., LTD. |
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*.swp | ||
doc_html | ||
latex |
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