Install for C++

Install the C++ client library for use with CMake or ROS 2. You need a running PDK server to connect to; see Set Up the PDK Server.

Note

The client must have the same major and minor version as the server.

Use with CMake

Requirements: CMake 3.16.3+, a C++17 compiler, Eigen3, Protobuf and gRPC, on Ubuntu 22.04, 24.04 or 26.04 (x86_64).

Clone the PDK repository and install the native dependencies:
```
git clone https://github.com/flexivrobotics/flexiv_pdk.git
cd flexiv_pdk
bash install_dependencies.sh
```
This installs cmake pkg-config libeigen3-dev libprotobuf-dev libgrpc++-dev protobuf-compiler-grpc from apt.
From the repository root, configure, build and install the package to a prefix of your choice:
```
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/pdk_install
make -j
make install
```
The flexiv_pdk package ships a pre-built libflexiv_pdk.so for your platform (for example ubuntu-22.04-x86_64). CMake downloads it from the GitHub release and verifies its checksum. Useful options:

-DFLEXIV_PDK_LIBRARY_DIR=<dir>
Use a libflexiv_pdk.<platform>.so you already have, for offline builds.

-DFLEXIV_PDK_PLATFORM=<platform>
Override the detected platform name.

Warning

Configuration fails if the Protobuf found on your system does not have the same major.minor version that the library was built against. Use the Protobuf that ships with your Ubuntu release.
Use it from your project:
```
cmake_minimum_required(VERSION 3.16.3)
project(my_app LANGUAGES CXX)

find_package(flexiv_pdk REQUIRED)

add_executable(my_app main.cpp)
target_link_libraries(my_app PRIVATE flexiv::flexiv_pdk)
set_target_properties(my_app PROPERTIES CXX_STANDARD 17 CXX_STANDARD_REQUIRED ON)
```
Point CMake at the install with -DCMAKE_PREFIX_PATH=$HOME/pdk_install (or -Dflexiv_pdk_DIR=...). CMAKE_INSTALL_PREFIX only controls where your project installs.

The flexiv::flexiv_pdk target brings in Eigen3, gRPC (gRPC::grpc++, or grpc++ through pkg-config when no gRPC CMake config exists) and Protobuf transitively.
Run your program. libflexiv_pdk.so must be found when it starts:
- A program run from its CMake build tree finds it by RPATH, with nothing else to do.
- A program you install with cmake --install needs one of:
  - set_target_properties(my_app PROPERTIES INSTALL_RPATH $ENV{HOME}/pdk_install/lib)
  - export LD_LIBRARY_PATH=$HOME/pdk_install/lib:$LD_LIBRARY_PATH
  - installing the PDK to /usr/local and running sudo ldconfig
In a ROS 2 workspace, source install/setup.bash puts the library on LD_LIBRARY_PATH.

Use with ROS 2

Supported distributions: Humble and Jazzy.

Clone the package into your workspace once and install its dependencies:

cd ros2_ws/src
git clone https://github.com/flexivrobotics/flexiv_pdk.git
source /opt/ros/jazzy/setup.bash
rosdep update
rosdep install --from-paths flexiv_pdk --ignore-src -r -y

Build:

cd ros2_ws
source /opt/ros/jazzy/setup.bash
colcon build
source install/setup.bash

In your own ament package:

find_package(ament_cmake REQUIRED)
find_package(flexiv_pdk REQUIRED)

add_executable(my_node src/my_node.cpp)
ament_target_dependencies(my_node PUBLIC flexiv_pdk)

and add <depend>flexiv_pdk</depend> to your package.xml.

Use from other languages

Every service is defined in proto/flexiv/pdk/. Generate client stubs for your language with its gRPC code generator and connect to the server address (default localhost:50052) over an insecure channel.