Quick Start (C++)¶

This guide covers building and using Flexiv TDK as a CMake package.

1) Install build dependencies¶

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

2) Choose an install directory¶

Example:

mkdir -p ~/tdk_install

3) Build and install third-party dependencies¶

cd flexiv_tdk/thirdparty
bash build_and_install_dependencies.sh ~/tdk_install

Internet access to GitHub is required.

4) Configure and install TDK¶

cd flexiv_tdk
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=~/tdk_install
cmake --build . --target install --config Release

5) Link TDK in your project¶

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

6) Run examples¶

cd flexiv_tdk/example/build
sudo ./<program_name> [arguments]

To allow a regular user to create high-priority (real-time) threads without sudo, configure system to apply real-time and nice priority limits (only need to set it once):

echo "${USER}    -   rtprio    99" | sudo tee -a /etc/security/limits.conf
echo "${USER}    -   nice     -20" | sudo tee -a /etc/security/limits.conf
echo "${USER} soft memlock unlimited" | sudo tee -a /etc/security/limits.conf
echo "${USER} hard memlock unlimited" | sudo tee -a /etc/security/limits.conf

Log out and log back in (or reboot) for the settings to take effect. Then all the examples can be executed without sudo.

See API Reference for details.